U.S. patent number 9,561,149 [Application Number 13/839,204] was granted by the patent office on 2017-02-07 for suspension and body attachment system and differential pressure suit for body weight support devices.
This patent grant is currently assigned to Lite Run, Inc.. The grantee listed for this patent is Lite Run, LLC. Invention is credited to John A. Hauck, Douglas E. Johnson, Mark T. Johnson, Odd Osland.
United States Patent |
9,561,149 |
Johnson , et al. |
February 7, 2017 |
Suspension and body attachment system and differential pressure
suit for body weight support devices
Abstract
A differential pressure body suit with external support against
body suit migration. In its preferred embodiment, such body suit
may comprise a close-fitting, multi-layered suit sealed against a
mammal's skin to contain the differential pressure, or a
looser-fitting suit that bends at the mammal's joints with minimal
force. External support structure includes either fixed or movable
mechanical supports attached to the body suit, extraordinary air
pressure levels for making the body suit rigid, or exoskeletons
attached to the body suit, or a counter-force adjustment cable
suspension system. A cyclic control system can turn the
differential pressure condition within the body suit on and off on
a selective basis to accommodate the movement of the legs of the
mammal. This differential pressure body suit provides a portable
and convenient system for, e.g., rehabilitating a skeletal joint
injury or training the mammal for injury prevention or athletic
performance or fat burning. The pressurization reduces the weight
of the body to greater or lesser extents, and offloads the weight
to the ground through the external support means.
Inventors: |
Johnson; Douglas E.
(Minneapolis, MN), Hauck; John A. (Shoreview, MN),
Osland; Odd (Apple Valley, MN), Johnson; Mark T. (Mounds
View, MN) |
Applicant: |
Name |
City |
State |
Country |
Type |
Lite Run, LLC |
Minneapolis |
MN |
US |
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Assignee: |
Lite Run, Inc. (Minneapolis,
MN)
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Family
ID: |
49993662 |
Appl.
No.: |
13/839,204 |
Filed: |
March 15, 2013 |
Prior Publication Data
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Document
Identifier |
Publication Date |
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US 20140026893 A1 |
Jan 30, 2014 |
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Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
Issue Date |
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13573692 |
Oct 3, 2012 |
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12456196 |
Jun 12, 2009 |
8663133 |
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12319463 |
Jan 7, 2009 |
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61626749 |
Oct 3, 2011 |
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61010034 |
Jan 7, 2008 |
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61131919 |
Jun 13, 2008 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A63B
21/00181 (20130101); A63B 69/0064 (20130101); A61H
3/008 (20130101); A61H 3/04 (20130101); A61H
9/0078 (20130101); A61H 2201/1621 (20130101); A61H
2209/00 (20130101); A63B 21/0088 (20130101); A63B
2208/14 (20130101); A61H 2201/1616 (20130101); A61H
2205/10 (20130101); A61H 2203/03 (20130101); A63B
2022/0094 (20130101); A61H 2205/08 (20130101); A61H
2201/163 (20130101); A61H 1/024 (20130101); A61H
1/0266 (20130101); A63B 2208/05 (20130101); A63B
22/20 (20130101); A63B 71/0009 (20130101); A61H
2201/1642 (20130101); A63B 69/16 (20130101); A61H
2201/165 (20130101); A63B 22/02 (20130101); A61H
3/00 (20130101); A61H 2201/5071 (20130101) |
Current International
Class: |
A61H
3/00 (20060101); A61H 3/04 (20060101); A61H
9/00 (20060101); A63B 69/00 (20060101); A63B
21/008 (20060101); A63B 21/00 (20060101); A63B
22/00 (20060101); A63B 69/16 (20060101); A63B
71/00 (20060101); A61H 1/02 (20060101); A63B
22/02 (20060101); A63B 22/20 (20060101) |
References Cited
[Referenced By]
U.S. Patent Documents
Foreign Patent Documents
Primary Examiner: Woodward; Valerie L
Attorney, Agent or Firm: DeWitt Ross & Stevens SC
Parent Case Text
CROSS-REFERENCE TO RELATED APPLICATION
This application claims the benefit of the U.S. provisional
application No. 61/626,749 entitled "Suspension and Body Attachment
System and Differential Pressure Suit for Body Support Devices"
filed on Oct. 3, 2011, and is a continuation-in-part of U.S. Ser.
No. 13/573,692 filed on Oct. 3, 2012, which is a continuation-in
part of U.S. Ser. No. 12/456,196 filed on Jun. 12, 2009, which is a
continuation-in-part of U.S. Ser. No. 12/319,463 filed on Jan. 7,
2009, which claims the benefit of U.S. provisional application Nos.
61/010,034 filed on Jan. 7, 2008, and 61/131,919 filed on Jun. 13,
2008, all of which are hereby incorporated by reference.
Claims
We claim:
1. A lift-assisted mobility device for assisting the motion of or
supporting a body of a mammal having a body weight moving between a
seated position and a standing position, such device comprising:
(a) a pressure-tight suit adapted to being worn over at least one
part of the mammal's body having at least one opening for inserting
the body part into the suit; (b) means for providing a
pressure-tight seal connected adjacent to the opening of the suit
for operative engagement of the body part surface of the mammal;
(c) inlet means in the suit for introduction of at least one source
of positive pressure or vacuum to an interior of the suit between
the mammal body and the suit to create a differential pressure
condition therein between the positive pressure or vacuum condition
inside the suit, and a pressure condition existing outside the
suit; (d) a lift-assistance device connected to the suit for
counteracting a downwards force applied to the suit when it is
placed under the differential pressure condition, comprising a
constant-force adjustment system adapted to lift the suit
vertically as the mammal rises from the seated position to the
standing position; (e) whereby the differential pressure condition
is adapted to exert an upwards force upon the body part to offload
a desired portion of the weight of the body to the lift-assistance
device, whereupon the mammal may stand easily with reduced effort,
and move about with body weight support.
2. The lift-assisted mobility device of claim 1, wherein the
constant-force adjustment system comprises an air cylinder, air
spring, or mechanical spring.
3. The lift-assisted mobility device of claim 1 further comprising
at least two wheels for providing further mobility to the mammal
once in the standing position.
4. The lift-assisted mobility device of claim 3 further comprising
means for steering or braking the at least two wheels.
5. The lift-assisted mobility device of claim 1 further comprising
a latch mechanism for releaseably connecting the suit to the
constant-force adjustment system.
6. The lift-assisted mobility device of claim 5, wherein the latch
mechanism is an electro-mechanical latch.
7. The lift-assisted mobility device of claim 5, wherein an air
connection is integrated into the latch mechanism.
8. The lift-assisted mobility device of claim 1, wherein the at
least one source of positive pressure is provided by a pressurized
gas.
9. The lift-assisted mobility device of claim 8, wherein the
pressurized gas is selected from the group consisting of air,
nitrogen, carbon dioxide, or argon.
10. The lift-assisted mobility device of claim 1, wherein the at
least one source of vacuum is provided by a vacuum pump.
11. The lift-assisted mobility device of claim 1, wherein the
pressure-tight seal means comprises an airproof elastic sleeve.
12. The lift-assisted mobility device of claim 1, wherein the
pressure-tight seal means comprises an airproof band.
13. The lift-assisted mobility device of claim 1, wherein the
pressure-tight seal means comprises an airproof pair of shorts
attached to the interior of the pressure-tight suit adjacent to a
sealing location.
14. The lift-assisted mobility device of claim 1, wherein the
pressure-tight seal means comprises an inflatable air tube
seal.
15. The lift-assisted mobility device of claim 1, wherein the
pressure-tight seal means comprises an air bladder.
16. The lift-assisted mobility device of claim 1 further comprising
a band adapted to be situated at least partially around the
mammal's torso and operatively connected to the suit by means of at
least one cord and pulley assembly to provide further lateral and
rotational freedom of movement to the mammal wearing the
pressure-tight suit.
17. The lift-assisted mobility device of claim 16, wherein the band
and the cord and pulley assembly and the suit are integrated
together as a single garment.
18. The lift-assisted mobility device of claim 1, wherein the
constant force adjustment system comprises an elastic cable.
19. The lift-assisted mobility device of claim 1, wherein the
constant-force adjustment system comprises means for applying
constant force tension to lift the suit vertically further
comprising an adjustment mechanism for adjusting the level of
constant force provided.
20. The lift-assisted mobility device of claim 19, wherein the
means for providing the constant force tension is powered or
manually operated.
21. The lift-assisted mobility device of claim 19, wherein the
means for providing the constant force tension comprises a load
cell and a control system.
22. The lift-assisted mobility device of claim 1, wherein the
constant force adjustment system has a vertical range of extension
of more than 12 inches (30.5 cm).
23. An assisted motion treadmill and lift-assist mobility device
for enabling a mammal having a body weight using the lift-assisted
mobility device with wheels to support the body during exercise in
a vertical position after receiving body support for moving between
a seated position and a standing position, such treadmill
comprising: (a) a platform having a moving section defined by a
longitudinal axis, and a peripherally arranged stationary section;
(b) channels formed within the stationary section on both sides of
the moving section, the channels oriented substantially parallel to
the longitudinal axis; (c) the lift-assisted mobility device
comprising: (i) a pressure-tight suit adapted to being worn over at
least one part of the mammal's body having at least one opening for
inserting the body part into the suit; (ii) means for providing a
pressure-tight seal connected adjacent to the opening of the suit
for operative engagement of the body part surface of the mammal;
(iii) inlet means in the suit for introduction of at least one
source of positive pressure or vacuum to an interior of the suit
between the mammal body and the suit to create a differential
pressure condition therein between the positive pressure or vacuum
condition inside the suit, and a pressure condition existing
outside the suit; (iv) a lift-assistance device connected to the
suit for counteracting a downwards force applied to the suit when
it is placed under the differential pressure condition, comprising
a constant-force adjustment system adapted to lift the suit
vertically as the mammal rises from the seated position to the
standing position; (v) whereby the differential pressure condition
is adapted to exert an upwards force upon the body part to offload
a desired portion of the weight of the body to the lift-assistance
device, whereupon the mammal may stand easily with reduced effort,
and move about with body weight support; (d) the wheels of the
lift-assisted mobility device fitting within the channels with
securement means for holding the wheels stationary with respect to
the channels; (e) wherein when the mammal is positioned on top of
the moving section of the treadmill with the wheels of the
lift-assisted mobility device secured within the channels of the
stationary section, the mammal can walk or run against the
longitudinal movement of the moving section, while holding on to
the lift-assisted mobility device held in place with respect to the
stationary section with the offloaded body weight making it easier
for the mammal to walk or run.
24. A method for assisting the motion of or supporting a body of a
mammal having a body weight moving between a seated position and a
standing position, such method comprising: (a) providing a
pressure-tight suit adapted to being worn over at least one part of
the mammal's body having at least one opening for inserting the
body part into the suit; (b) providing means for providing a
pressure-tight seal connected adjacent to the opening of the suit
for operative engagement of the body part surface of the mammal;
(c) providing inlet means in the suit for introduction of at least
one source of positive pressure or vacuum to an interior of the
suit between the mammal body and the suit to create a differential
pressure condition therein between the positive pressure or vacuum
condition inside the suit, and a pressure condition existing
outside the suit; (d) providing a lift-assistance device connected
to the suit for counteracting a downwards force applied to the suit
when it is placed under the differential pressure condition,
comprising a constant-force adjustment system that lifts the suit
vertically as the mammal rises from the seated position to the
standing position; (e) introducing pressure or vacuum into the
interior of the suit through the inlet means; (f) whereby the
differential pressure condition exerts an upwards force upon the
body part to offload a desired portion of the weight of the body to
the lift-assistance device, whereupon the mammal may stand easily
with reduced effort, and move about with body weight support.
25. A lift-assisted mobility device for assisting the motion of or
supporting a body of a mammal having a body weight moving between a
seated position and a standing position, such device comprising:
(a) a suit or harness made from flexible fabric adapted to being
worn over all or a portion of one or more of the mammal's body
parts consisting of a torso or leg, the suit or harness having at
least one opening adapted to be positioned around the mammal's
torso, leg, arm, or neck for accommodation by the suit or harness
of the body parts; (b) a rigid band adapted to be situated at least
partially around the mammal's torso and operatively connected to
the suit or harness by means of at least one cord and pulley
assembly; (c) a lift-assistance device connected to the suit,
comprising a constant-force adjustment system adapted to lift the
suit vertically as the mammal rises from the seated position to the
standing position; (d) wherein the lift-assistance device is
adapted to exert an upwards force upon the rigid band and body part
accommodated by the suit or harness to offload a portion of the
weight of the body to the lift-assistance device, while the cord
and pulley assembly is adapted to provide the mammal greater
lateral and rotational freedom of movement, whereupon the mammal
may stand easily with reduced effort, and move about with body
weight support.
26. The lift-assisted mobility device of claim 25, wherein the
constant-force adjustment system comprises an air cylinder, air
spring, or mechanical spring.
27. The lift-assisted mobility device of claim 25 further
comprising at least two wheels for providing further mobility to
the mammal once in the standing position.
28. The lift-assisted mobility device of claim 25 further
comprising a latch mechanism for releaseably connecting the suit to
the constant-force adjustment system.
29. The lift-assisted mobility device of claim 28, wherein the
latch mechanism is an electro-mechanical latch.
30. The lift-assisted mobility device of claim 28, wherein an air
connection is integrated into the latch mechanism.
31. The lift-assisted mobility device of claim 25 further
comprising means for steering or braking the support means.
32. The lift-assisted mobility device of claim 25, wherein the band
and the cord and pulley assembly and the suit are integrated
together as a single garment.
33. The lift-assisted mobility device of claim 25, wherein the
constant-force adjustment system comprises an elastic cable.
34. The lift-assisted mobility device of claim 25, wherein the
constant-force adjustment system comprises means for applying
constant force tension to lift the suit vertically further
comprising an adjustment mechanism for adjusting the level of
constant force provided.
35. The lift-assisted mobility device of claim 34, wherein the
means for providing the constant force tension is powered or
manually operated.
36. The lift-assisted mobility device of claim 34, wherein the
means for providing the constant force tension comprises a load
cell and a control system.
37. The lift-assisted mobility device of claim 25, wherein the
constant force adjustment system has a vertical range of extension
of more than 12 inches (30.5 cm).
Description
FIELD OF THE INVENTION
This invention relates generally to the motion and physical health
of the mammalian body, and more specifically to portable systems
for assisting humans or other animals to medically rehabilitate or
train specific body parts through the application to such body
parts of differential pressure.
BACKGROUND OF THE INVENTION
Vertebrate animals feature a flexible, bony skeletal framework that
provides the body shape, protects vital organs, and enables the
body to move. The human skeleton comprises approximately 206
separate bones. These bones meet at joints, the majority of which
are freely movable. The skeleton also contains cartilage for
elasticity, and muscular ligaments consisting of strong strips of
fibrous connective tissue for holding the bones together at their
joints.
The femur, fibula, tibia, and metatarsal bones of the legs and feet
support the body and therefore bear its weight. Muscles associated
with the ilium, pubis, ischium, patella, tarsal, and phalanges
bones provide the necessary bending of the hips, knees, ankles, and
toes that are essential for humans to walk, run, climb, and engage
in other locomotion activities.
Likewise, the humerus, ulna and radius bones and metacarpal and
phalanges bones form the arms and hands, respectively. Muscles
associated with the clavicle, scapula, and carpals enable the arm
to bend or flex at the shoulder or elbow, and the hand to flex at
the wrist and fingers, which is useful for lifting, carrying, and
manipulating objects.
Over time, body bones or joints can become damaged. Bones fracture;
ligaments tear; cartilage deteriorates. Such damage may result from
the aging process, manifested by arthritis, osteoporosis, and slips
and falls. But injuries are also caused by sports activities. For
example, recreational and competitive running is enjoyed by some 37
million Americans with 25% of them suffering from running injuries
annually. Meanwhile, 57 million Americans bicycle for recreational
or transportation purposes. In addition to bodily injuries caused
by falls, prolonged bicycling can result in groin discomfort or
numbness. This medical injury is caused by the horn of the bicycle
saddle creating pressure points that can occlude the arteries and
veins that supply blood flow to the genitals. Within the 1999-2004
time period, 21 publications within multiple medical specialties
(e.g., sexual medicine, urology, neurology, cardiology, biomedical
engineering, sports medicine and emergency medicine) established a
clear relationship between bicycle riding and erectile dysfunction
("ED").
A number of different approaches have been taken within the
industry and the medical community for preventing or treating these
injuries. Exoskeletons entail external support systems made from
strong materials like metal or plastic composite fibers shaped for
supporting proper posture of the human body. Honda Motor Co. has
employed "walking assist devices" for its automotive factory
workers to support bodyweight for reducing the load on assembly
line workers' legs while they walk, move up and down stairs, and
engage a semi-crouching position throughout a work shift. The U.S.
military has experimented with exoskeletons for its soldiers to
enable them to carry heavy equipment packs and weapons. However,
the body must be connected to the exoskeleton at the limbs and
other parts by means of straps and other mechanical attachment
devices. The exoskeleton's motor must be regulated by various
sensors and controls, and driven by hydraulics, pneumatics,
springs, or other motorized mechanical systems. These can be
cumbersome and expensive systems that do not necessarily reduce the
stress on the body caused by gravity.
Athletes and older people suffering from joint injuries have
rehabilitated in pools and water tanks. The buoyant property of the
water provides an upwardly-directed force to the body that lightens
the load otherwise directed to the joints. However, these types of
systems are not portable, since the person is confined to the pool
or water tank. Moreover, pools or water tanks may be unavailable or
expensive to install.
Another approach is provided by a harness system exemplified by
U.S. Pat. No. 6,302,828 issued to Martin et al. Consisting of an
overhead frame to which is connected a raiseable body harness, such
a system supports a portion of a person's body weight as he, e.g.,
walks or runs on a treadmill in order to diminish downward forces
on the body joints. But the straps and attachment devices create
localized pressure points and stresses on the body, and restrict
the range of motion of the body and its limbs. Such a mechanical
weight off-loading system may also lack portability.
The National Aeronautics and Space Administration ("NASA") has
developed a system that utilizes differential air pressure to
provide a uniform "lift" to the body to assist the exercise
process. See U.S. Pat. No. 5,133,339 issued to Whalen et al. The
differential pressure is applied to the lower half of the person's
body that is sealed within a fixed chamber to create a force that
partially counteracts the gravitational force on the body. A
treadmill contained within the sealed chamber allows the person to
exercise. However, this Whalen system requires a large, immobile
pressure chamber containing a treadmill. Such a system is expensive
and requires cumbersome entry and exit by the person. It will not
enable the person any other means of exercise besides the
treadmill.
Pressurized bodysuits have also been used within the industry for
several different applications. For example, U.S. Published
Application 2002/0116741 filed by Young discloses a bodysuit with
integral supports and internal air bladders that are filled with
pressurized air. This air pressure exerts force against the muscles
of a person wearing the suit to tone them during daily activities.
U.S. Pat. No. 6,460,195 issued to Wang illustrates exercise shorts
with buckled belts, air bags, and a vibrator that directs pulses of
pressurized air to the body to work off fat and lift the hips. U.S.
Pat. No. 3,589,366 issued to Feather teaches exercise pants from
which air is evacuated, so that the pants cling to the body of an
exerciser to cause sweating, thereby leading to weight loss.
The U.S. military has also employed pressurized suits of various
designs for protecting fighter pilots from debilitating external
G-forces. Due to rapid changes in speed and direction, the fighter
pilot's body undergoes very high accelerations. This normally
forces the pilot's oxygen-laden blood away from the portion of the
circulatory system between the heart, lungs and brain, pooling
instead toward the blood vessels of the lower extremities. As a
result, the pilot can lose situational, awareness and spatial
orientation. A pilot's bodysuit pressurized against the blood
vessels of the legs can force the oxygen-laden blood back to the
head and torso of the pilot. See U.S. Pat. No. 2,762,047 issued to
Flagg et al.; U.S. Pat. No. 5,537,686 issued to Krutz, Jr. et al.;
and U.S. Pat. No. 6,757,916 issued to Mah et al. U.S. Pat. No.
5,997,465 issued to Savage et al. discloses a pants bodysuit made
from metal or polymer "memory material" that is heated by
electrical current to form around the body, and then cooled to
apply pressure for treating this G-forces phenomenon.
Pressurized bodysuits have been used previously for other purposes,
such as splinting leg fractures, stopping bleeding from wounds,
treating shock, and supporting the posture of partially paralyzed
patients. See, e.g., U.S. Pat. No. 3,823,711 issued to Hatton; U.S.
Pat. No. 3,823,712 issued to Morel; U.S. Pat. No. 4,039,039 issued
to Gottfried; and U.S. Pat. No. 5,478,310 issue to Dyson-Cartwell
et al. Bodysuits can also have air between the suit and the body
evacuated by vacuum to draw the suit into close contact with the
body. See U.S. Pat. No. 4,230,114 issued to Feather; U.S. Pat. No.
4,421,109 issued to Thornton; and U.S. Pat. No. 4,959,047 issued to
Tripp, Jr. See also U.S. Published Application 2006/0135889 filed
by Egli.
Such pressurized body suits have not previously been used to
rehabilitate skeletal joint injuries or minimize conditions that
cause erectile dysfunction. Moreover, they have typically been used
only in stationary situations like a sitting pilot due to the
problem of air pressure forcing the body suit off the lower torso.
In some applications like weight-loss patients, suspender straps
have been required to overcome this downwards migration of the
bodysuit pants.
Thus, a pressurized bodysuit that can be used to apply localized
differential pressure to a lower or upper body part for injury
rehabilitation or minimization, coupled with an external support or
pressure condition control system would be beneficial, particularly
due to its portable nature. Such a pressurized body suit system
could be worn by a patient, athlete, or other person within a
variety of settings to perform a variety of different
functions.
Ambulatory assist devices such as walkers, rollators, are used to
assist elderly or physically-impaired people undergoing
rehabilitation, or people suffering from gait and balance problems
due to strokes, Parkinson's and other neurological disorders. These
devices are used to provide balance and some measure of body weight
support often by the person using their arms and hands. Use of
these devices requires the disabled person raise himself from a
sitting position to a standing position in order to use the device
to ambulate. However, physically impaired people often lack the
strength and or balance in order to raise themselves from a sitting
to a standing position without assistance. This prevents people
from independently using ambulatory assist devices. Also providing
personnel for assistance entails additional costs for
rehabilitation institutions or in providing home care. Walkers that
incorporate a means for assisting a seated person to stand are
commercially available or otherwise known in the art. One example
is U.S. Pat. No. 7,363,931 which provides lifting arms to assist in
standing. One commercially available device is "The New Lift
Walker" available from newliftwalker.com. It incorporates a harness
and arm supports and a pneumatic lift device to assist in raising a
person from a seated to a standing position. These devices
generally lack having a body weight support capability. Instead the
person is able to provide some body weight support using their arms
and hands as supports. Some mobility assist devices utilize a
harness to provide body weight support. However harness systems
have the drawbacks we have described earlier. There is a need for
improved mobility assist devices that provide both improved means
of body weight support and a means for assisting a person to raise
himself from a seated to a standing position. The wheeled support
aid with lift mechanism may utilize electric or pneumatic power
sources or both.
Training of gait and balance with body weight support (BWS) is a
promising rehabilitation technique. The current body weight support
method utilizes an overhead harness support mechanism for which
commercial systems are available. One harness system is exemplified
by U.S. Pat. No. 6,302,828 issued to Martin et al. Consisting of an
overhead frame to which is connected a raiseable body harness, such
a system supports a portion of a person's body weight as he, e.g.,
walks or runs on a treadmill in order to diminish downward forces
on the body joints. Harnesses for body weight support attach upper
torso and the pulling force on the body is directly upwards. This
restricts the natural position of the body during running and
walking to a forward leaning position. Because harness systems pull
the upper body directly upwards from the chest they are can provide
too much stability for balance training. Another issue with the
harness based body weight support is that the harness supporting
the subject decreases the need for natural associated postural
adjustments (APAs) that are required for independent gait. The main
site for an active control of balance during gait is the step-to
step mediolateral placement of the foot. When supported by a
harness during BWS training any mediolateral movement is restricted
by a medially directed reaction force component that will help
stabilize the body in the frontal plane and decrease or even
eliminate the need for APAs making gait and balance training less
effective. Further the straps and attachment devices create
localized pressure points and stresses on the body, and restrict
the range of motion of the body and its limbs. In particular the
straps around the thighs and groin interfere with the back and
forth rotation of the legs.
An new alternative to a harness based body weight support is a
close fitting differential pressure suit is described in this
application and in U.S. Patent Application [US 2010/0000547,
PCT/US2009/003535, EP 09762926.5]. A differential pressure body
suit with external support against body suit migration is provided
by the invention. In its preferred embodiment, such body suit may
comprise a close-fitting, multi-layered suit sealed against a
person's skin to contain the differential pressure, or a
looser-fitting space suit that bends at the joints with minimal
force. External support means include either fixed or movable
mechanical supports attached to the body suit, extraordinary air
pressure levels for making the body suit rigid, or exoskeletons
attached to the body suit. This differential pressure body suit
provides a portable and convenient system for rehabilitating a
skeletal joint injury or training for injury prevention or athletic
performance. The pressurization reduces the weight of the body to
greater or lesser extents, and offloads the weight to the ground
through the external support means. The body suit is flexible and
has joints that can flex with minimal force even under
pressure.
In either harness based approaches or partial pressure differential
pressure suit means are required for attaching the harness,
pressure suit or other attaching means to the mechanism that
provides the counter-force body weight support. Harness systems use
ropes straps and or cables to attach the harness system to the
overhead counter-weight system. A natural walking or running gait
consists of body movements or rotations about various axes of the
body. It is important that the connecting system not unduly
restrict these movements. There is a need for body weight support
systems that do not restrict natural body movements.
SUMMARY OF THE INVENTION
The present invention provides a differential pressure body suit
with external support against body suit migration. The invention
provides body weight support in a way that does not restrict one's
natural body movements that occur while walking or running.
Specifically the invention is an improved system for a body weight
support device for connecting a person's body to the weight
off-loading components of the device (referred here to a
constant-force adjustment mechanism) so as not to restrict natural
body movements. In its preferred embodiment, such body suit may
comprise a close-fitting, multi-layered suit sealed against a
mammal's skin to contain the differential pressure, or a
looser-fitting suit that bends at the mammal's joints with minimal
force. External support means include either fixed or movable
mechanical supports attached to the body suit, extraordinary air
pressure levels for making the body suit rigid, or exoskeletons
attached to the body suit. A cyclic control system can turn the
differential pressure condition within the body suit on and off on
a selective basis to accommodate the movement of the legs of the
mammal. This differential pressure body suit provides a portable
and convenient system for rehabilitating a skeletal joint injury or
training the mammal for injury prevention, athletic performance, or
fat reduction, or assisting the mobility of the physically
disabled. The pressurization reduces the weight of the body to
greater or lesser extents, and offloads the weight to the ground
through the external support means. The body suit is flexible and
has joints that can flex with minimal force even under
pressure.
The invention can also be used to assist the mobility for, e.g.,
the elderly or disabled people, who have common problems such as
degenerative hips or knees by reducing the stress on their joints.
This includes a lift-assisted mobility device for enabling a person
to stand from a sitting position with minimal effort and receive
support while standing in a mobile environment. Furthermore, the
alternating pressure/depressurization cycle can provide medical
benefits via the body suit similar to massage, or by enhancing
venous return of blood to the heart for, e.g., people suffering
from varicose veins or other vascular disorders. The system can
also facilitate proper posture, and avoid bed sores caused by
prolonged horizontal contact by the body with the bed. This is not
a purely mechanical system for supporting bodily motion, such as an
exoskeleton. This invention is useful not only for humans, but also
for other animals like dogs, cats, and horses.
BRIEF DESCRIPTION OF THE DRAWINGS
In the accompanying drawings:
FIG. 1 is a perspective view of the assisted motion system of the
present invention.
FIG. 2a is a schematic view of the legs and feet of a human and the
forces applied thereto.
FIG. 2b is a schematic view of a body suit of the present invention
and the forces applied thereto.
FIG. 3 is a cut-away view of the body suit.
FIG. 4 is a schematic view of the construction of the body
suit.
FIG. 5 is a partial view of the body suit connected to a portion of
the external support frame.
FIG. 6 is a partial front view of a waist seal attached to the
interior of the body suit.
FIG. 7 is a cut-away front view of an alternative airtight shorts
embodiment of a waist seal for the body suit.
FIG. 8 is a cut-away front view of an inflatable air tube seal for
the body suit.
FIG. 9 is a perspective view of a human wearing a full-length pants
body suit of the present invention.
FIG. 10 is a perspective view of a human wearing a pants body suit
only extending to the ankles.
FIG. 11 is a cut-away view of a sleeve seal for the body suit of
FIG. 10.
FIG. 12 is a perspective view of a human wearing a pants body suit
only extending to just above the knees.
FIG. 13 is a cut-away view of a sleeve seal for the body suit of
FIG. 12.
FIG. 14 is a schematic view of the body suit construction further
comprising an airtight bladder sealing means.
FIG. 15 is a front partial view of the air bladder construction of
FIG. 14.
FIG. 16 is a side partial view of the air bladder construction of
FIG. 14.
FIG. 17 is a perspective view of an alternative embodiment of the
body suit comprising separate pressurized kg units.
FIG. 18 is a partial perspective view of an alternative embodiment
of the body suit comprising a circumferential tension system.
FIG. 19 is a perspective view of an alternative embodiment of the
body suit comprising a loose-fitting body suit.
FIG. 20 is a perspective view of an external wheeled frame support
structure for the body suit.
FIG. 21 is a perspective view of an external cart-like support
structure for the body suit.
FIG. 22 is a perspective view of a stationary support frame
structure for the body suit.
FIG. 23 is a partial perspective view of a constant-force
adjustment mechanism for the stationary support frame structure of
FIG. 22.
FIG. 24 is a perspective view of an assisted motion system of the
present invention for bicycle riders.
FIG. 25 is a front view of the support structure for the bicycle
assisted motion system of FIG. 24.
FIG. 26 is a back view of the support structure for the bicycle
assisted motion system of FIG. 24.
FIG. 27 is a perspective view of the support structure shown in
FIGS. 24-26.
FIG. 28 is a perspective view of an external exoskeleton support
structure for the body suit of the present invention.
FIG. 29 is a perspective view of an internal exoskeleton support
structure for the body suit of the present invention.
FIG. 30 is a perspective view of pressurized body suit units which
provide the support structure for the body suit.
FIG. 31 is a perspective view of a loose-fitting body suit of the
present invention featuring a cyclic gas
pressurization/depressurization system for supporting the body
suit.
FIG. 32 is a perspective view of a portable cyclic gas
pressurization/depressurization system for supporting the body suit
also supported by an external exoskeleton system.
FIG. 33 is a perspective view of the portable cyclic gas
pressurization/depressurization system for supporting separate
pressurized body units also supported by an external exoskeleton
system.
FIG. 34 is a perspective view of a body suit for the upper body to
maintain its vertical posture.
FIG. 35 is a perspective view of a body suit for the upper body to
maintain its horizontal posture.
FIG. 36 is a perspective view of body suit vest for applying a
negative (vacuum) pressure to the upper body.
FIG. 37 is perspective view of the body suit vest of FIG. 36 with
an external wheeled support frame.
FIG. 38 is a perspective view of a body suit for a horse.
FIG. 39 is a front view of the body suit of FIG. 38.
FIG. 40 is a perspective view of the horse body suit of FIGS. 38-39
with an external wheeled cart support frame.
FIG. 41 is a perspective view of an elastic suspension system of
the present invention.
FIG. 41b is a perspective view of the body weight support device of
the present invention.
FIG. 42 is a perspective view of a mobile walker support structure
used with the pressurized suit invention.
FIG. 42b is a schematic showing the superior-inferior axis of
rotation for a human body.
FIG. 43 is a schematic showing the medio-lateral axis of rotation
for a human body.
FIG. 44 is a schematic showing the anteroposterior axis of rotation
for a human body.
FIG. 45 is a schematic showing the medio-lateral axis of rotation
through the hip joints for a human body.
FIG. 46 is a perspective view of the pulley attachment between the
body suit and the band of the body weight support device.
FIG. 47 is a top down cross-sectional view of the band and pulley
attachment system of FIG. 46.
FIG. 48 is a top down cross-sectional view of the band and pulley
attachment system of FIG. 46 with the person's lower body and hips
rotated.
FIG. 49 is a top down cross-sectional view of the band and pulley
attachment system of FIG. 46 having curved linear bearings.
FIGS. 50 and 51 are perspective views showing the adjustment of the
band and pulley attachment system to the motion of the person's leg
about the hip during the running stride.
FIG. 52 is a perspective view showing the components of one
embodiment of the suspension apparatus of the body weight support
device.
FIG. 53 is a perspective view of an alternative embodiment of the
body weight support device featuring a leg harness.
FIG. 54 is a perspective view of the rigid band and pulley system
used to provide body weight support to a person on a powered
four-wheeled support structure.
FIG. 55 is a perspective view of the rigid band and pulley system
used to provide body weight support to a person on a non-powered,
manually-operated four-wheeled support structure.
FIG. 56 is a perspective view of the rigid band and pulley system
used to provide body weight support to a person on a treadmill with
a constant-force adjustment mechanism extending from the
treadmill.
FIG. 57 is a schematic view of the layers of the close-fitting
differential pressure body suit.
FIG. 58 is a view of the mapping lines of non-extension on a lower
body.
FIG. 59 is a view of a pattern for the first outer layer of the
body suit.
FIG. 60 is a perspective view of a runner on a treadmill-based body
weight support device wearing a two-way stretch fabric body
suit.
FIG. 61 is a side view of a lift-assisted mobility device of the
present invention.
FIG. 62 is a side view of a person wearing a pressurized suit and
band and pulley system of the present invention.
FIG. 63 is a side view of a person wearing the pressurized suit
with the band and pulley system operatively attached to the
lift-assisted mobility device in a seated position.
FIG. 64 is a side view of the person operatively attached to the
lift-assisted mobility device of FIG. 63 in the standing
position.
FIG. 65 is a side view of the person operatively attached to the
lift-assisted mobility device in the standing position of FIG. 64
secured to a moving treadmill.
FIG. 66 is a view of the means used to secure the wheels of the
lift-assisted mobility device in place to the treadmill.
DESCRIPTION OF THE PREFERRED EMBODIMENT
A differential pressure body suit with external support against
body suit migration is provided by the invention. In its preferred
embodiment, such body suit may comprise a close-fitting,
multi-layered suit sealed against a mammal's skin to contain the
differential pressure, or a looser-fitting space suit that bends at
the mammal's joints with minimal force. External support means
include either fixed or movable mechanical supports attached to the
body suit, extraordinary air pressure levels for making the body
suit rigid, or exoskeletons attached to the body suit. A cyclic
control system can turn the differential pressure condition within
the body suit on and off on a selective basis to accommodate the
movement of the legs of the mammal. This differential pressure body
suit provides a portable and convenient system for rehabilitating a
skeletal joint injury or training the mammal for injury prevention,
athletic performance, or fat reduction, or assisting the mobility
of the physically disabled. The pressurization reduces the weight
of the body to greater or lesser extents, and offloads the weight
to the ground through the external support means. The body suit is
flexible and has joints that can flex with minimal force even under
pressure. The invention can also be used to assist the mobility
for, e.g., the elderly or disabled people, who have common problems
such as degenerative hips or knees by reducing the stress on their
joints. Furthermore, the alternating pressure/depressurization
cycle can provide medical benefits via the body suit similar to
massage, or by enhancing venous return of blood to the heart for,
e.g., people suffering from varicose veins or other vascular
disorders. This is not a purely mechanical system for supporting
bodily motion, such as an exoskeleton.
For purposes of the present invention, "differential pressure"
means the difference in pressure conditions across opposite sides
of the body suit, such as a positive pressure or negative (vacuum)
pressure condition contained inside the suit, and an atmospheric
pressure condition on the outside of the suit. For example, if
atmospheric pressure is equal to 14.7 lbs/in.sup.2 ("psi"), and the
internal pressurized condition of the body suit is 15.7 psi, then
the differential pressure applied by the body suit to the mammal
wearing the body suit is 1.0 psi. Such differential pressure can
also be represented as .DELTA.P within this application.
As used within this application, "positive pressure" means any
pressure level in excess of atmospheric pressure.
For purposes of this application, "negative pressure" means any
pressure level less than atmospheric pressure. A vacuum is an
example of such a negative pressure. Partial vacuums are also
covered by this invention.
In the context of the present invention, "body portion" means any
part of the body to which the differential pressure condition is
applied by the body suit. Examples include, without limitation,
feet, legs, knees, hips, shoulders, arms, elbows, torso, and the
back.
As used within this application, "body suit" means a single or
multi-layered, close-fitting or loose-fitting suit capable of
containing a positive or vacuum pressure condition that covers a
predetermined body portion. Examples include, without limitation,
trunks, shorts, full-length pants, such pants that cover the feet,
shirts, and chest or arm segments. The suit is provided with a
means for creating the positive or negative (vacuum) pressure
condition within the suit. Such a means may be a port connected to
an air pressure control system.
In the context of the present invention, "pressure-tight" means
with respect to the body suit that the material forming such body
suit is capable of containing a positive or negative pressure
condition without substantial diminishment over a time period that
is relevant to the usage of the body suit. Thus, pressure tightness
does not require an absolute absence of any loss of pressure or
vacuum, nor does it require maintenance of the positive pressure or
vacuum condition within the suit for a time period greater than the
time interval during which the suit is worn for an exercise or
therapeutic treatment session, or beyond which such positive
pressure or vacuum condition can reasonably be replenished within
such exercise or therapeutic session.
For purposes of the present invention, "mammal" means any of a
class of higher vertebrates comprising humans and all other animals
that nourish their young with milk secreted by mammary glands, and
have the skin usually more or less covered with hair. Such animals
include, without limitation, horses, dogs, and cats.
A human runner will be used as an exemplary mammal for purposes of
describing the assisted motion system of the present invention. It
is important to appreciate, however, that any other type of mammal
for any other kind of exercise, life activity, or rehabilitative
activity is covered by this application, as well.
The assisted motion system 10 of the present invention is shown in
FIG. 1. Unlike prior art static systems that require a runner to
use a stationary treadmill, this system is portable, thereby
enabling the runner 12 to enjoy exercising outdoors on the road or
a trail. In this embodiment, the runner wears a differential
pressurized pant suit 14 that extends downwardly from the runner's
waist 16 and covers the feet 18. The runner's legs 20 are depicted
inside the differential pressurized suit 14 in broken lines 22.
The differential pressurized suit 14 is constructed of air-tight
material, and affords easy movement by the body and limbs of runner
12 while running. The suit 14 is sealed against the body at the
waist 16. When air pressure condition P above atmospheric pressure
P.sub.atm is added to the volumetric region 24 defined between the
runner's legs 20 and the suit 14, a differential pressure condition
.DELTA.P is created in which the runner's lower body portion
contained within the suit 14 experiences a higher pressure
condition than the runner's upper body 26, which only experiences
P.sub.atm. Due to this pressure differential .DELTA.P, an upwards
force is exerted on the runner 12 by the higher air pressure
contained inside the suit 14, thereby acting to diminish the weight
of the runner's body. Runner 12 thereby experiences a reduced
weight on his feet, knees, legs, and lower body when he runs in
this differential pressurized suit 14, compared with if he ran
without the suit.
FIG. 2 illustrates the various vector forces on the runner's body.
The runner 12 and the differential pressurized suit 14 are depicted
separately in FIGS. 2a and 2b, respectively, for ease of
understanding. The force from gravity exerted on the runner's body
mass is shown as F.sub.g. In use, the suit 14 is sealed to the
runner's body at the waist 16, and pressurized to pressure P to
create the differential pressure condition .DELTA.P between the
upper and lower bodies. The cross-sectional area of the body at
waist 16 is depicted as area A.sub.w. The positive pressure P is
directed against the body and legs 20. The differential pressure
condition .DELTA.P results in an upwards-directed resultant force
F.sub.b on the body located at the centroid 17 of cross-sectional
area A.sub.w. This total upwards force F.sub.b is:
F.sub.b=.DELTA.P.times.A.sub.w This constitutes the amount of
weight that is effectively reduced from the lower body 20 of runner
12. For example, a runner experiencing a pressure differential
.DELTA.P on the lower body of 0.5 psi having a cross-sectional
waist area of A.sub.w of 100 square inches would experience a 50 lb
reduction in weight due to the differential pressurized suit
14.
FIG. 2b illustrates the various vector forces on the suit 14. The
cross-sectional area of the suit at waist 16 is depicted as
A.sub.s. In the case of a closely-fitting body suit, A.sub.s should
approximate A.sub.w. The positive pressure differential .DELTA.P
also results in a downwards directed force F.sub.s on the suit 14.
The amount of this downwards force F.sub.s is:
F.sub.s=.DELTA.P.times.A.sub.s. This constitutes the amount of
force that pushes the suit down the body. For example, a suit
pressurized to a pressure differential .DELTA.P of 0.5 psi having a
cross-sectional waist area As of 100 square inches is subject to a
50 lb downwards force. This force F.sub.s would ordinarily cause
suit 14 to work its way downwardly along legs 20. Therefore, an
important part of the invention is the inclusion of external
support 26 to prevent the downward migration of the suit. In the
case of the embodiment depicted in FIG. 1, external support 26
constitutes a frame 28 that is operatively connected to wheels 30.
The suit is attached to the frame 28 at attachment points 29. When
the differential pressurized suit 14 is connected to frame 28, the
downward force F.sub.s exerted on the suit 14 is matched by the
upwards reaction force exerted by the supporting structure at the
attachment points 32.
In this manner, the supported differential pressurized suit 14 is
able to diminish the weight of the runner's body without contacting
the body. Through the application of differential pressure
.DELTA.P, an amount of weight .DELTA.W of the body equal to:
.DELTA.W=W-(.DELTA.P.times.A.sub.w) is transferred from the
muscle-skeletal structure of the runner's lower body 20 to the
frame 28 of the supporting structure 26, and through the frame 28
and wheels 30 to the ground. Moreover, the support structure
prevents force F.sub.s from pulling the differential pressurized
suit 14 off runner 12. Furthermore, because the wheel-based support
structure 36 and differential pressurized suit 14 are completely
portable in nature, runner 12 can go anywhere with the
motion-assisted system 10, instead of being confined to a
stationary or pressure chambers as with prior art systems.
When the runner's body is in contact with the ground via feet 18,
various amounts of weight can be effectively removed from the body,
depending upon the level of positive pressure P introduced to the
body suit. For example, for a 180 lb runner having a
cross-sectional area A.sub.w of 100 square inches, a differential
pressure .DELTA.P of 1 psi would reduce his weight by 100 lbs. The
runner's lower body would therefore only need to support a weight
of 80 lbs. A 0.5 psi pressure differential .DELTA.P would take off
50 lbs of weight. A 0.25 psi pressure differential would take off
25 lbs of weight.
The preferred construction of differential pressurized suit 14 is
shown in greater detail in FIGS. 3-4. Close fitting suits provide
the advantage of greater mobility for runner 12. Suit 14 is
constructed from at least three layers of material. FIG. 3 shows a
cut-away view of the suit illustrating its different layers.
An air-tight inner layer 31 featuring an airtight seal 32 at the
waist 16 of the runner's body 20 maintains the positive pressure P
condition inside the suit against the runner's body skin 34. The
fabric for this air-tight layer which is closest to the body may be
formed from any pressure-tight material that is also sufficiently
flexible to afford mobility by the runner. Examples include,
without limitation, latex rubber, neoprene, and air-tight elastic
fabrics like latex-coated Lycra. This fabric should be sufficiently
thin and elastic to provide comfort without restriction.
Preferably, suit 14 is about 0.002-0.040 inch thick, more
preferably about 0.005-0.015 inch thick, still more preferably
about 0.010 inch thick. The elasticity of the material can be
expressed by spring rate, which is the force necessary to double a
one-inch-thick strip of fabric. Preferably, this spring rate should
be about 0.2-2.0 lbs, more preferably about 0.5-1.5 lbs, still more
preferably about 1.0 lb.
Two outer layers 36 and 38 of the differential pressurized suit 14
composition prevent the suit from expanding due to the force
applied by positive pressure P, while maintaining the shape of the
suit to fit closely to the body. This close fit provides for ease
of mobility of the body and its limbs 20. It also prevents the legs
of the suit from contacting each other during the running motion.
Moreover, this close fit of the suit reduces the volume of
pressurized air or other suitable gas in contact with the body
joints in order to facilitate bending of the legs.
The fabric for these first and second outer layers 36 and 38 should
be composed of mesh, netting, or other suitable fabric. Suitable
mesh material is available from Apex Mills Corporation of Inwood,
N.Y. This mesh or netting is constructed to mostly be non-extending
along one axis, and elastic or extensible along a second axis
perpendicular to the first axis. Exemplary mesh materials include,
without limitation, nylon-Lycra that can be knit or braided, or a
monofilament like nylon or Dacron.
The first outer layer 36 serves to prevent the suit 14 from
expanding circumferentially. The circumferential direction of
expansion is perpendicular to the longitudinal axis of the legs and
body fabric. The fabric is oriented so that its non-extending axis
follows this direction. The fabric can be more specifically
oriented so that its non-extending axis follows lines on the body
in which the skin does not stretch or extend during bending or
other movement. These lines are known within the industry as
"lines-of-non-extension." Lines of non-extension run both parallel
and perpendicular to the longitudinal axis of the legs and body.
This first layer of fabric preferably would follow the
perpendicular lines of non-extension.
The second outer layer 38 serves to prevent the suit 14 from
expanding longitudinally under pressure. This fabric layer is
oriented, so that its axis of non-extension generally follows lines
that are generally parallel to the longitudinal axis of the legs
and body. Preferably, the fabric can be more specifically oriented
in this direction to follow longitudinal lines on the body in which
the skin does not stretch or extend during bending or other
movement. Where appropriate in sections of the body which do not
flex, such as the thigh area or lower calves, cloth, mesh, or net
material that is non-extendible along both axes may be used. This
second outer fabric layer 38 which is mostly non-extensible in the
vertical direction of an upright body effectively carries the
vertical downward load on the suit resulting from the positive
pressure differential.
Differential pressurized suit 14 may also feature additional layers
of nylon 40 between the body 20 and the air-tight inner layer 30,
and 42 and 44 between the inner 30 and first outer layer 36, and
two outer layers 36 and 38, respectively, in order to enable the
suit and layers to slip relative to one another on the body to
improve the runner's mobility. Air-tight zippers 46 positioned
along the suit 14 near its waist 16 and feet 18 portions allow for
easy entry and removal of the suit. Such air-tight zippers are
available from YKK (U.S.A.) Inc. of Marietta, Ga. Moreover, the
suit 14 may feature an inner vent layer 48 that provides airflow
and moisture control. In other embodiments these layers can be
separately combined into a single layer that provides the same
basic functioning as for the separate layers described above.
As shown in FIG. 5, a band 54 serves to attach the suit 14 to the
supporting structure 28. This band is attached to the supporting
structure with a fitting 29, such as a threaded collar receiving
threaded ends extending from support structure 28. The band should
conform to the generally elliptical shape of waist cross-section
A.sub.w that surrounds the suit 14 at the waist 16. This band
serves an additional purpose of containing the outward pressure
force in order to enhance the radial inward force as the suit is
filled with pressure. This assures that the suit will conform
closely to the body at the waist 16.
The band 54 may be made from any suitable material that is strong
enough to contain this outwardly-directed force, including metal,
plastic, or composites. It may be made moldable to the general
shape of the runner's waist, using a thermoset plastic material.
The band 54 may alternatively be formed from a strong, flexible
fabric, such as nylon. The suit 14 may be attached and detached
from the band 54, using a Velcro fastening system. Other mechanical
fastening systems such as straps, snaps, or hooks engaging eyelets
may also be utilized. Alternatively, the band can constitute an
integral part of the suit. The band may be in two pieces hinged and
fitted with a locking clasp to allow for easy entry.
In the embodiments of the differential pressurized suit 14 shown in
FIGS. 1-3, the suit covers the entire lower legs and feet, so that
the entire lower body below the waist is airtight. A seal 40 is
connected to the waist of suit 14 with an airtight connection, so
that air pressure cannot escape between the suit and the seal.
While the seal 40 may be positioned at the waist area, it may also
be located lower, below the hips, or somewhere in between.
The seal 40 constitutes an airtight band of material that fits
tightly over the body. As shown more clearly in FIG. 6, it is
attached to the suit 14 at 55. This seal 40 is preferably
constructed of elastic neoprene, or any other airtight material,
such as rubber, latex, or a rubber-coated Lycra. Suitable latex
rubber sheeting is available from Rubber Cal of Santa Ana, Calif.
The seal should be sufficiently wide across the waist area of the
suit to provide for a sufficient airtight closure. The
circumference of the seal 40 should be less than the unstretched
circumference of the body part that is circumscribed by the seal,
so that when the seal 40 is secured around the body part (in this
case, the waist area), a positive pressure is applied by the seal
to the underlying skin. Combined with the air at pressure P that is
introduced into the suit 14 within the volume between the suit's
airtight inner layer 30 and the runner's body skin, the suit 14 and
associated seal 40 maintain a relatively airtight seal in order to
confine the volume of air pressure P inside the suit. The seal 40
is sufficiently airtight that it provides enough sealing force to
maintain the air pressure inside the suit using the air control
system.
FIG. 7 shows another embodiment of a waist seal for suit 14. In
another embodiment of the differential pressurized suit 14 of the
present invention, the waist seal can comprise an airtight pair of
shorts 53 that are connected to the interior of the suit. Such
shorts can be tight-fitting, airproof neoprene compression shorts
that provide a tight fit against the body. These shorts can be
connected to the suit at the waist by means of an airproof zipper.
The shorts can also consist of a tight-fitting, breathable fabric
that has a band of airproof latex or rubber coating at the top or
bottom portion to provide the airproof seal against the body.
In yet another alternative embodiment, the seal can consist of an
inflatable air tube seal 50, as shown in FIG. 8. This inflatable
tube seal circumscribes the waist, and is attached via an airtight
connection to the exterior of the suit. When inflated with air, the
tube seal 50 expands and applies an inwardly directed force to the
waist to compress it against the skin to confine the air pressure P
condition inside the suit.
As shown in FIG. 9, when suit 14 is pressurized, it maintains a
shape close to the body, while affording mobility of the body and
limbs. A port 56 is provided in the suit to allow for pressurizing
and depressurizing the suit. An air control system 58 connected to
an associated pressurized air source 59 maintains the positive
pressure condition P inside the suit. The air control system 58 may
also control the humidity and temperature levels existing inside
the suit. The suit may be statically pressurized once, and then
worn by the person without the control system 58. When operating in
this manner, the seal 40 maintains the pressure condition for the
duration of the time period that the suit is worn. The suit may be
worn for time periods ranging between minutes for brief exercises
to days for medical rehabilitation.
While this application discusses the use of pressurized air to fill
the suit, other pressurized gases may be employed. Other examples
of such pressurized gases include nitrogen, carbon dioxide, and
argon. Such gases must be non-toxic and not harmful to body skin,
or else an inner layer must be worn between the gas and the skin to
protect the skin and body.
The differential pressurized suit 52 shown in FIG. 9 comprises a
full-length pair of pants which also completely cover the feet.
Airtight zippers 60 assist entry into the waist region of the
pants. Airtight zippers 62 do the same for ankle regions. Finally,
airtight zippers 64 allow the foot portion 66 of the suit 52 to be
attached to the pants portion 68 after the feet are inserted
through the pant legs.
Still another embodiment of a differential pressurize suit 70 is
depicted in FIG. 10. In this particular embodiment, the suit
extends from the waist 72 to the ankles 74 without covering the
feet, and is sealed at the ankle. The waist seal is as described
above, and may include a rigid band 54 surrounding an air bladder.
The ankle seals 76 are shown in greater detail in FIG. 11, and
comprise a sleeve seal 41 connected inside the suit leg 70 that is
constructed of elastic neoprene, or another airtight elastic
material, such as rubber, latex, or a rubber-coated Lycra. The
sleeve seal 41 can be a tight-fitting, airproof neoprene
compression sleeve that provides a tight fit over the ankle and
lower calf. The sleeve seal 41 should be long enough to provide for
a sufficiently airtight closure between the seal and the body skin.
The unstretched circumference of the ankle sleeve seal 41 should be
less than the circumference of the ankle and lower calf, so that
when the sleeve seal 41 is secured around the ankle, a positive
pressure is applied by the seal to the underlying skin by the
elastic tension of the seals. In this manner, when the suit is
pressurized with air to pressure condition P, the pressurized air
is substantially contained within the suit 70.
By having suit 70 end at the ankles, motion by the foot will not be
impaired by the foot portion of the suit. The suit 70 may also be
put on more easily. Moreover, the wearer may wear normal-sized
shoes.
The net upward force provided by pressurized air contained within
suit 70 may be calculated as: F.sub.b=.DELTA.P(A.sub.w-2A.sub.A)
where .DELTA.P is the difference in pressure level P inside the
suit and atmospheric pressure P.sub.atm outside the suit. A.sub.w
is the cross-sectional area of the waist. A.sub.a is the
cross-sectional area of each ankle.
Another embodiment of differential pressurized suit 80 is shown in
FIG. 12, in this embodiment, suit 80 extends to just above the
knee. It is sealed at the waist 82 and at the knees 84. The waist
seal 86 is as describe above. The knee seals 88 are shown in
greater detail in FIG. 13. The sleeve seal 81 is an airtight sleeve
connected to the interior of the suit 80 that fits tightly over the
lower thigh. The sleeve seal should be long enough to provide for a
sufficiently airtight closure. The circumference of the knee sleeve
seal 81 should be less than the unstretched circumference of the
lower thigh, so that when the seal 81 is secured around the knee, a
positive pressure is applied by the seal to the underlying skin.
This sleeve seal 81 is preferably constructed of elastic neoprene,
or any other air-tight material, such as rubber, latex, or
rubber-coated Lycra. An advantage provided by this suit 80 is that
the runner's knee and lower leg are free to move without any
restriction posed by suit 80. This suit 80 is also easier to put on
and take off.
The net upwards force supplied to the runner's body when suit 80 is
filled with pressurized air is: F.sub.b=.DELTA.P(A.sub.w-2A.sub.k)
.DELTA.P is the difference in pressure between pressure condition P
contained inside the suit 80 and atmospheric pressure P.sub.atm
existing outside the suit 80. A.sub.w is the cross-sectional area
of the waist. A.sub.K is the cross-sectional area of the spot on
each leg just above the knee where seals 88 engage the leg.
In another embodiment shown in FIG. 14, the pressurized air is
contained within the body suit by means of an air-tight bladder 29
illustrated in an expanded view of the layers of the suit. The
bladder consists of an airproof inner layer 31 and outer layer 33.
The two layers are joined at the top and bottom of the suit to form
an air-tight bladder. This bladder is essentially two identical
air-proof layers, nested one inside the other, and sealed together
at the top waist area and bottom of each leg of the suit. When
pressurized, the inner layer presses against the skin and the outer
layer presses against the outer constraining layers 36 and 38. A
frontal view of the bladder 29 is shown in FIG. 15. A side view of
the bladder is shown in FIG. 16. The bladder 29 contains air at
pressure condition P. The bladder may be used for the various
embodiments of the pressure suits described herein, including a
bladder that extends from the waist to around the foot, a bladder
that extends from the waist to the ankle, and a bladder that
extends from the waist to above the knee.
Yet another embodiment is shown in FIG. 17 of differential
pressurized suit 90. This embodiment consists of an independent
suit 92 and 93 for each leg, having leg openings 94 near the upper
thigh. The upper thigh seals 95 can extend diagonally from the
upper thigh at the groin on the inner side of the leg to the hip on
the outer side of the leg. A.sub.t is the cross-sectional area of
the spot on each leg at the upper thigh where seals 95 engage the
leg.
Each leg suit 92, 93 covers the entire lower leg and foot, so that
the entire leg below the thigh seal 95 is airtight. The leg suits
are attached by means of straps 96 to a rigid band 98 that is
provided near the waist. This band may alternatively constitute a
strong, flexible fabric. The band 98 is then attached to a
supporting structure (not shown). Alternatively, the leg suits may
be attached directly to the support frame by means of straps 96.
The positive pressure differential .DELTA.P contained in the leg
suits 92, 93 results in an upwards-directed resultant force F.sub.b
applied to the body located at the centroid 97 of the
cross-sectional area A.sub.t. The total amount of this upwards
force F.sub.b on the body from both leg suits is:
F.sub.b=2.DELTA.P.times.A.sub.t where .DELTA.P is the difference in
pressure between the positive pressure P condition inside the suit
and atmospheric pressure outside the suit. A.sub.w is the
cross-sectional area of the waist region. A.sub.t is the
cross-sectional area of each upper thigh region.
The various configurations of suits described above provide high to
lower amounts of upwards force F.sub.b on the body, depending upon
the location of the seals. The complete lower body coverage suit 14
of FIG. 1 provides the greatest upper lift to the body, because:
F.sub.b=.DELTA.P.times.A.sub.w. The waist-to-ankle suit 70 of FIG.
10 provides the next largest amount of lift, because:
F.sub.b=.DELTA.P(A.sub.w-2A.sub.a). Next in decreasing progression
is the waist-to-just-above-the-knee suit 80 of FIG. 12, because:
F.sub.b=.DELTA.P(A.sub.w-2A.sub.k). For most humans, their body
anatomy is such that A.sub.a<A.sub.K. The independent leg suits
92, 93 also provide for a higher to lower amount of upwards force
on the body. The leg suit with a top seal at the upper thigh of
FIG. 17 provides the highest amount:
F.sub.b=2.DELTA.P.times.A.sub.t. A leg suit with a top seal at the
upper thigh and a bottom seal at the ankle (not shown) provides the
next highest amount: F.sub.b=2.DELTA.P.times.(A.sub.t-A.sub.a). A
leg suit with a top seal at the upper thigh and a bottom seal at
the spot above the knee (not shown) provides the lowest amount:
F.sub.b=2.DELTA.P.times.(A.sub.t-A.sub.k).
While pressurized gases like air have been discussed as the
pressurizing medium for the differential pressurized suit 14 of
this invention, positive pressure applied against a body and its
limbs can be created by other means. For example a fabric or
elastic material 102 circumferentially kept under tension around a
leg 104 can be employed, as depicted in FIG. 18. The material 102
exerts a tension T.sub.t that creates an inwardly-directed radial
force F.sub.r on the body that is normal to the surface of the leg.
The effect of this force within this circumferential tension system
100 is similar to the effect of positive pressure developed by air
pressure--i.e., a net upwards force is created on the body.
Various means can be utilized to develop this tension. For example,
an elastic material can provide this circumferential tension. In
such example, the "suit" is constructed by a multitude of windings
of an elastic material that is perpendicular in direction to the
axis of the leg 104, and non-extensional in the longitudinal
direction of the leg. The suit is sized to be smaller than the
body, so that a tension is developed when the suit is put on.
Alternatively, the suit can be placed under tension through the use
of zippers, or by cinching up the suit via lacing, tied in a knot
after it is put on. Suits of this circumferential tension
embodiment 100 may be similar in degree of coverage, as discussed
above--e.g., waist-to-above-the-knee, waist-to-ankle,
waist-to-around-foot; upper thigh/hip-to-above-knee; upper
thigh/hip-to-above-ankle; upper thigh/hip-to-around-foot.
An air bladder 106 positioned under a portion of the wrap 102
against the leg 104 may be utilized to create further tension
inside the suit 100. This air bladder should have a small width,
and extend longitudinally along the body under the wrap 102. When
the bladder 106 is inflated with a gas like pressurized air, the
wrap 102 is placed under tension. Advantageously, only a small
amount of air is required to create the positive pressure on the
body, because the wrap 102, itself, also contributes positive
pressure via the tension. At the same time, the wrap material can
allow for breathability and the transfer of moisture away from the
body.
Shaped memory alloys like nickel titanium or shaped polymers may
likewise be used to provide the tension in a
circumferentially-tensioned pressure suit. An electric current can
be applied to cause the material to change in shape to conform to
the underlying body's shape, and create circumferential tension.
Shaped memory alloys or polymers can be woven into fabric that the
suit is constructed of.
While close fitting differential pressure suits 14 and
circumferentially-tensioned suits 100 have been described for use
with the assisted motion system 10 of the present invention, a
looser-fitting suit 110 may also be employed, as shown in FIG. 19.
The legs of the suit 110 may extend downwardly to just above the
knee, above the ankle, or cover the entire foot, as described
above. Seals 112 can be provided around the waist and at the bottom
edges of the suit if the suit does not extend around the feet.
Exemplary locations include: upper seals 112 at the waist or
upper-thigh-to-hip; lower seals at above the knee or above the
ankle.
Mobility of the body 114 and lower legs 116 is provided by constant
volume joints positioned at the waist 118, knee 120, and ankles
122, respectively, of the suit 110. The equation for work where
volume is changed under a constant pressure is: W=P.times..DELTA.V
where W is work, P is the constant pressure, and .DELTA.V is the
change in volume. Clearly, holding the volume constant in a joint,
such that .DELTA.V=0 over the course of joint flexure is one way to
nullify the need to expand work just to flex the suit joint.
A constant-volume joint allows the cross-sectional area of the
joint of the suit to maintain a constant volume of pressurized air
P during bending of the body, so that the work, and thus the force,
required to bend the joint is minimized. In the preferred
embodiment of loose-fitting differential pressure suit 110, the
constant volume joints consist of baffles and tensioning straps
along the sides of the joint to prevent the baffles from extending.
Other types of constant-volume joints known in the prior art, such
as "Space Suit Mobility Joints described in U.S. Pat. No.
4,151,612, and which is hereby incorporated by reference in its
entirety, may also be utilized. The suit shown in FIG. 19 has
constant volume joints positioned at the waist-through-the-hip
section and at the knee. A constant volume joint at the knee 120
allows the leg to bend and move at the knee with the motion of
walking or running without the need for undue force. An airproof
boot 124 is worn and the constant volume joint 122 is utilized to
allow for mobility.
Pressurized gas 126, such as air, is injected into the suit 110 by
means of control system 128 and hoses 129. A person wearing the
suit 110 may exercise on a treadmill 127, but portable pressurized
gas systems are also possible.
A rubberized nylon can be utilized to construct a single-layer
suit. This can be sewn into the appropriate shape using a standard
sewing machine. Thigh seals can be made from a
commercially-purchased neoprene compression sleeve. Compression
sleeves are available from Advanced Brace of Irving, Tex. Neoprene
compression shorts are available from the same supplier. The
compression sleeve can be sewn interior to the pant around the
thigh opening, and made airtight with seam sealer in the form of
Seam Lock sold by REI, Inc. of Sumner, Wash. to make the seam
airtight. A shorts-type waist seal can be constructed by sewing the
waist area to the outer rubberized nylon suit, and sealing the
seams to make it airtight. Alternatively, a compression sleeve may
be connected to the rubberized nylon exterior suit, by placing each
over an appropriate diameter steel band, and then clamping together
the two layers of material with another outer ring. A standard air
intake fitting can be installed in the pants to provide a port for
pressurizing the suit.
Another important aspect of the assisted motion system 10 of FIG. 1
is the external support structure 26 that is necessary for
preventing the downwardly directed force F.sub.s on the suit
created by the positive pressure differential .DELTA.P, from
forcing the suit down and off the runner's body. In the ease of
FIG. 1, the embodiment of external support structure 26 constitutes
a frame 28 and wheels 30 for providing complete mobility to runner
12. Such support structures should be designed for the specific
range of body motions that the person wearing the suit plans to
carry out.
Shown in greater detail in FIG. 20 is a wheeled frame structure 130
for supporting a differential pressurized suit 132 worn by a person
134 who is running. As the runner wears this suit 132 supported by
the wheeled frame 130 during his running routine, he experiences
less weight on his feet, knees, legs, and lower body, because a
portion of his body weight has been offloaded by the upwards force
F.sub.b on the body created by the positive pressure differential
.DELTA.P of the pressurized suit 132. The downward force F.sub.s on
the suit also caused by the positive pressure differential .DELTA.P
is transmitted to the support structure 130, and from the support
structure to the ground.
The frame 130 shown in FIG. 20 has a construction similar to a
bicycle: a wheel in the front 136 and one in the back 138. The
runner 134 is positioned midway between the wheels, and the space
between the wheels is sufficient to avoid contact with the runner's
legs. The rotational momentum of the wheels stabilizes the frame
during motion, as with a bicycle. The frame 130 wraps around the
runner 134 at the waist/hip level 140. Note the absence of a seat,
pedals, sprocket and chain that are normal to a bicycle. The frame
130 is designed so that the runner 134 can swing his arms and hands
when running.
The pressurized suit 132, as described in other embodiments of this
invention, will create a force along the vertical axis of pushing
the body up, with the reaction force being that of pushing the suit
down. The latter is countered in this embodiment by offloading this
downward reaction force to the `bike` frame 130, thereby
effectively delivering part of the runner's weight to the bike
frame and thus to the ground through the wheels.
A mechanism 144 allows for both rotational and angular pivoting of
the runner's torso during the motion of running. In this
embodiment, the mechanism simply consists of a flexible pleated
material 140 surrounding the region about the waist of the pressure
suit, which may bend and twist with the movement of the runner's
torso. Other mechanical mechanisms for this purpose may also be
utilized.
The running support frame 130 has a mechanism 146 for steering the
bike. In one embodiment of the steering mechanism, the movable
front wheel 136 is steered in a similar fashion to a bicycle,
except instead of long handlebars, cables 148 and a small steering
wheel 150 are used employing well-known mechanical methods to
implement steering. In a second embodiment of the steering
mechanism, a handlebar is brought back in reach of one or both arms
of the runner. The only difference in this embodiment and a
standard bicycle steering mechanism is that a centering spring
holds the bike true, or non-turning until the runner applies force
to the steering handle bar. This allows periods of running without
active steering. A third steering embodiment uses a stepper motor
in the steering column powered by an embedded rechargeable battery.
The steering is controlled by the motor via a wireless handheld
glove actuator that provides motion commands to the motor using
well-known wireless and motion control methods. This permits the
runner to freely swing his arms in a natural running motion, and
still retain full-time steering control. A fourth steering
embodiment positions the hub of the wheel backwards or forwards of
the vertical axis of steering to provide automatic steering.
The running support frame 130 may also have standard bicycle brakes
which are operated by a band lever using well-known means, or by
the handheld remote control method that may actuate electric
powered brakes.
An optional constant force extension mechanism may be used that
provides a constant upwards force on the pressure suit allowing it
to move vertically with the vertical motion of the runner's body.
The constant force of the mechanism is adjustable so that the
upwards force on the mechanism is equal to the downwards force of
the suit under pressure. The suit can thus float vertically up and
down with the motion of the runner's torso, while maintaining an
essentially constant upward force on the suit. A range of motion of
0-7 inches is provided to accommodate various runners, with 3 to 4
inches being a typical vertical displacement in running motion.
Different frames sizes may be provided to fit different sized
runners. The vertical position of the rotational and angular
pivoting mechanisms and the constant force may be adjustable to
accommodate different body heights.
An alternative embodiment to the foregoing bicycle-like running
support structure 130 is a cart-like structure with four wheels,
arranged as pairs of wheels lateral to the left and right sides of
the runner, as shown in FIG. 21. In this embodiment, the frame 160
is connected to each wheel 162 lateral to the runner, leaving a
clear path to the front and back of the runner. The front wheels
operate independently and are implemented as turnable castors 163
to accommodate steering. The rear wheels also rotate independently,
but are fixed on their vertical axis. The axle shafts 164 provide a
rigid connection to the interface member 166 for the pressure suit
168. In a manner identical to the bicycle-like embodiment, a
portion of the runner's weight is off-loaded via the pressure suit
168, and transmitted to the frame, axle shafts 164, and ultimately
the ground 172. Steering is accomplished passively in that the cart
simply follows direction changes engendered by the runner's change
in direction, which translates twist through the frame to the front
wheel castor mechanisms in a manner similar to steering a shopping
cart.
Yet another embodiment may be that of a tricycle, where a pair of
wheels front-left and front-right of the runner are connected to
the frame as in the four-wheeled cart, and a third free wheel and a
single free turning rear wheel confers stability to the system.
Finally, it should be realized that any number of wheels may be
used without departing from the scope of this invention.
FIG. 22 shows another embodiment of the support structure
consisting of a stationary supporting frame 180 positioned over a
treadmill 182. The frame 180 provides support for the pressure suit
184 worn by the runner 186. Any of the aforementioned pressure suit
embodiments may be utilized for this static support structure 180.
For illustrative purposes, FIG. 22 depicts a pressure suit 184 that
ends above the ankles. Conceptually, the only difference between
this static support structure 180 and the aforementioned wheeled
support structures 130 and 160 is that the reaction force that is
subtracted from the runner's weight is offloaded from the runner to
a rigid fixed structure, the treadmill frame, instead of a mobile
structure.
This is accomplished by providing a set of sliding rods which
support the runner and are arranged to allow for longitudinal and
lateral motion. A rigid waist loop supporting member 188 wraps
around the runner's body and connects to the pressure suit 184 at
the waist. A horizontal longitudinal sliding rod 190 connects to
each end of the frame and slides through the fittings 192. The
sliding longitudinal rod allows for longitudinal movement of the
runner in the front to back direction on the track 182. The
fittings 192 are attached at the middle of each of two sliding
horizontal lateral rods 194. These sliding lateral rods allow for
lateral movement of the runner on the track in the side-to-side
direction. The lateral sliding rods 194 slide through fittings 196
that are fixed atop constant-force pneumatic springs 198.
Preferably, these springs provide a constant force to support the
vertical downwards loads from the suit and sliding rods, and allow
for vertical motion of the runner 186. In other embodiments, the
springs may be constant-force mechanical springs, as is known in
the art. The springs may also be mechanical or pneumatic springs
that are not constant force. The springs are connected to vertical
rigid members 200 that connect to the base of the treadmill.
In usage, the constant-force air cylinders are each set such that
the total force equals the desired weight to be subtracted. Air
cylinder actuators are available from Bimba Manufacturing Company
of Monee, Ill. Prior to pressurizing the pants 184, the runner
steps up on a small support about one foot above the surface of the
treadmill, and clips into the hooks on the air cylinder apparatus.
Once this is done, the pants 184 may be pressurized. By standing on
a scale, the pressure may be set to subtract the desired weight.
Alternatively, since the pants characteristics should be known a
priori, a specific calculated pressure P applied to the pants 184
will yield a specific weight subtraction. The desired weight
subtraction set via the pressure P, and the counter force supplied
by the air cylinders 198 can be approximately matched. A control
system can apply the correct calculated pressure to the constant
force springs 198. During running, a runner could move vertically
from 1 to 7 inches, typically 3 or 4 inches, vertically relative to
the running surface. The function of the air cylinders 198 is to
maintain a constant offloading of the reaction force dynamically,
in response to this vertical displacement during running.
In lieu of the wheeled or static support structure discussed above
for this invention that is separate from the pressurized suit, the
supporting structure component may be directly incorporated into
the pressure suit so that both the supporting frame and the
pressure suit and body have the same movements, in this manner the
invention provides for a wide range of movements and exercises over
a variety of terrains.
As shown in the embodiment 230 of FIG. 28, the supporting frame is
a rigid exoskeleton structure 232 made of lightweight rods and
joints that is attached to the outside of the pressurized suit 234.
The rigid frame and joints of the exoskeleton 232 provide the
necessary support for the downward force of the pressurized suit
234. The downward force of the suit F.sub.d is equal to the upward
force F.sub.u at the attachment point to the top of the
exoskeleton. The exoskeleton has matching supports on the inside
and the outside of the legs.
The embodiment 240 shown in FIG. 29 is the same as that shown in
FIG. 28, with the exception that the rigid exoskeleton 242 is built
into the fabric of the suit. The exoskeleton 242 comprises a number
of relatively strong thin vertical rods 244 that have a flexible
joint at the knee. The rods are integrated into the air-tight
fabric that comprises the suit 234 as described earlier, and
terminate uniformly at an ankle ring 246 that in turn conducts the
force to the exterior of the boot structure and thus to the around.
Alternatively the rods 244 may be layered over the suit and
suitably attached at a multitude of points. The rods generally
follow the longitudinal lines of non-extension of the lower body
and legs. The rods 244 are comprised of a suitable lightweight, but
strong material such as aluminum or a composite material. The
internal exoskeleton 242 supports the legs of the pressurized suit
234. It is depicted inside only one leg in FIG. 18 for ease of
understanding.
Another type of supporting device for the assisted motion system 10
of the present invention utilizes the air pressure of the
pressurized suit to support the runner. In this case, no supporting
frame is required. The column of pressurized air contained in the
leg units is capable of supporting a load equal to the differential
pressure .DELTA.P times the cross-sectional area of the leg unit
A.sub.u.
As shown in FIG. 30, in this embodiment 250 the body suit 252
consists of tubular units 254 around each leg. The leg units have
an equivalent or slightly increasing cross-sectional area from the
top to the bottom. This shape of the tubular units 254 results in
no vertical downwards force being imparted on the exterior of the
tube by the internal pressure of the unit. The units are sealed at
the bottom around the foot. The units are sealed at the top against
the thigh by seals 256, as described previously. The units are
sized, so that the column of pressurized air can support the weight
of the body that is supported by the internal differential pressure
.DELTA.P. The load supported by each unit is equal to the
cross-sectional area of the unit A.sub.u times the differential
pressure .DELTA.P.
The positive pressure differential .DELTA.P in the leg unit results
in an upwards-directed resultant force F.sub.b on the body located
at the centroid of the cross-sectional area A.sub.u of each leg
unit. The total amount of this upwards force F.sub.b on the body
from a leg unit is: F.sub.b=.DELTA.P.times.A.sub.u.
As discussed with respect to FIG. 30 for the loose-fitting suit
embodiment of the pressurized suit, constant volume joints 258 at
the knees and 260 at the ankles allow the pressurized leg units 254
to bend and move with the walking and running motion without the
need for undue force. Loose fabric in these joints permit the
volume to remain relatively constant during bending. A retaining
means between the loops of fabric prevent the joint from expanding
longitudinally when the tubular units 254 are pressurized. The
person can conveniently exercise on a treadmill 262.
In another embodiment, the tubular units may be shaped into forms
that enable the motion of the person wearing the suit 252, and
provide for a more compact design. For example the tubular units
may be elliptical with the longer axis aligned with the
forwards-backwards axis of motion. The shape of the cross-sectional
area can vary moving up and down the leg. The lower cross-sectional
area can be shaped more like the lower leg and foot. The upper
cross-sectional area can be shaped like the thigh. This provides
for a streamlined form, which does not interfere with the running
motion.
Alternatively, the tubular unit may have a separate outer
pressurized chamber that provides the support. This chamber can
have a higher pressure than required for providing support to the
body to enable supporting a higher load with less of a
cross-sectional area for the tubular unit.
The unit may also have separate smaller pressurized tubular units
which support the load. Such an embodiment provides a more compact
form closer fitting to the body.
For the suits described which provide exoskeletons as the
supporting structure, the movement of various body movements can be
further enhanced by using a powered exoskeleton, as is known in the
art. A powered exoskeleton consists primarily of a skeleton-like
framework worn by a person and a power supply that supplies at
least part of the activation-energy for limb movement. Typically, a
powered exoskeleton is attached at specific localized points of the
body through mechanical means. These local mechanical pressure
contact points on the body are deleterious. The use of differential
pressure to support the body allows for the coupling of the
exoskeleton to the body to be distributed over a large body
surface.
The concept of supported differential pressure can be utilized to
un-weight other areas of the body. For example, by creating a
pressure differential between the narrower waist or lower pelvis of
a seated person using a supported differential upper body pressure
suit, the person's upper body weight can be unweighted. This could
be used to reduce pressure on the lower back and spine for people
with lower back pain, degenerative or ruptured disks, etc.
An example of this suit is shown in FIG. 34. The differential
pressurized suit 325 shown in FIG. 34 comprises a full-length suit
which extend to the chest area just below the arms. This embodiment
of the suit completely covers the feet, legs, and lower body.
Alternatively, the suit may extend to the ankles, knees, or upper
thigh. The suit is sealed at the chest. The seal may constitute any
of the sealing methods previously discussed, including a neoprene
band, an inflatable tube, or an inflatable bladder. The suit is
connected to a rigid band 326. The band serves to attach the suit
14 to the supporting structure 327 which in this embodiment is a
chair. The connection is such that the person may easily engage or
disengage from the chair. The band 326 conforms to the generally
elliptical shape of the chest cross-section. The band and
connection to the supporting structure are sufficient to support
the downward force of the pressurized suit. Air-tight zippers (not
shown) assist entry into the full length pressure suit. The suit
can connect and disconnect to connection valve 329 on the chair
when the person sits down or gets up from the chair. The connection
valve 329 is connected to a pressure control system 328 that can
pressurize and depressurize the suit, as needed.
A challenge posed by the pressurized suit of the present invention
is proper management of the balance between the downwards force of
the suit and the upwards force applied by the previously described
constant-force adjustment mechanism, support structure, or other
offloading means. In particular, the forces must be balanced when
the suit is pressurized or depressurized. If the force developed by
the downwards force of the suit and the counter force applied by
the constant-force adjustment mechanism are not applied
simultaneously, the result will be imbalance of the downwards force
of the suit and the upwards force of the offloading means. Thus, if
the air pressure is applied first, the unopposed downward force
will drive the suit downwards. Conversely, if the upward counter
tension force is applied first, then the suit will be pulled
upwards. If however, the two forces are applied so as to
continuously counter-balance each other, then the suit will remain
in its correct position on the person's body.
A method for smoothly applying the pressure and the offloading
counter force to the person wearing the pressurized suit will be
described. The application to pressure pants is used for exemplary
purposes only, for a similar system may be applied to the other
embodiments of the invention, including the suit using negative
differential pressure. The preferred method of an adjustable, but
approximately constant-force spring will be described. Following
that, a mechanism to create a set point for a control algorithm
will be described.
As described above, it is important over small vertical
displacements in the range of a typical runner (nominally 3 inches)
that the counter force is maintained approximately constantly. A
variation of no more than five pounds of force over three inches is
preferred. This is readily accomplished with stretch (bungee) cord
material of approximately four feet in length, with a spring
constant of 10 pounds per foot. Note that two cords are preferably
used: one on the left side and the other on the right side of the
person. Thus a 40 pound maximum force on each cord will yield an 80
pound offloading maximum. To achieve 40 pounds on each side, the
stretch cord will be stretched to twice its length, or four feet of
displacement. Note that the 3 inch (0.25 feet) vertical
displacement of the person during running will cause 2.5 pounds of
force loss on each cord at the peak height, for a total of 5
pounds, which meets the preferred minimum variation.
In FIG. 41, a pressurized pants implementation is shown depicting
the stretch cord connected to the runner's left side. The right
side cord is omitted for the sake of clarity. The cord 800 clips
onto the pants on one end, and it goes up over a pulley 801 mounted
above the person over the treadmill apparatus. At the end of
stretch cord 800 is an electronic load cell 805 capable of
measuring the desired tension for 0 to 50 pounds, and on the other
side of the load cell 805 is a non-extensible cable 806 of about
four feet in length, but wrapped around a windup pulley 807. The
windup pulley 807 is motor driven with a stepper or servo motor
under system microprocessor control.
In parallel with the primary stretch cord 800 is a secondary cord
810 whose purpose is essentially for measurement and control. Cord
810 terminates at a fixed location 811 near pulley 801, and its
initial section is a short spring 812 with a spring constant of one
pound per foot, followed by an inline control load cell 813, a
non-extensible cord section 814, and a hand-operated ratcheting
pulley 815 mechanism. The lower end of 815 terminates in a
non-extensible rope 816 that attaches to the pants.
The input controller keypad and display 817 contains a
microprocessor. The microprocessor receives digitally converted
inputs from the load cells 805 and 813 and the pants pressure
sensor 818. The microprocessor, in addition to standard I/O
functionality for the treadmill, also controls the pants
pressurizing valve and a counter tensioning windup motor.
At startup, the individual when ready begins with a START command
to the input control pad 817. After standard checks to ensure that
inputs are being received from the load cells 805 and 813 and
pressure sensor 818, the system instructs the user to tension
ratcheting pulley 815 until the 1 pound set point (plus/minus a
suitable tolerance) is attained. When attained, a READY status is
reported on the display, and the user stops manually tensioning.
The primary tension cable 800 is tensioned via actuating the windup
pulley 807 until a slight decrease in the control load cell is
detected, and then it is paused at this setting. The user then
enters on the keypad 817 a target body weight to be offloaded by
the system. At this point, the air flow is initiated to generate
pressure within the suit and the measurement from load cell 813 is
monitored in the control software. As soon as load cell 813
registers a force increase, incremental tension is applied by
turning windup pulley 807 again to maintain the set point on the
control load cell 813 at one pound. Subsequently an increment of
air flow may be applied through air inlet hose 819, followed by
incremental counter tension by actuating windup pulley 807 so as to
maintain the one-pound set point on the control load cell. In the
simplest embodiment, this back and forth iteration may proceed
until the desired target weight is achieved on load cell 805, or
the maximum system allowed pressure is reached as reported by
pressure sensor 818.
More sophisticated control algorithms may also be used for purposes
of this elastic suspension system of the present invention, such as
a proportional-integral-derivative (PID). The key aspect is that
the control parameter as reported by load cell 813 is increased by
the air pressure system, whereas it is decreased by the counter
tension mechanism, and the control algorithm operates on both
systems to maintain the desired set point of the control parameter.
When the user begins running, the system may not need to monitor
and perform further adjustments. However, by monitoring the cyclic
peak values reported by load cell 813, on-going adjustments may be
made to maintain the desired set point.
Another method for pressurizing the pants and applying the counter
force incrementally may be performed as follows, again referring to
FIG. 41. This method does not rely upon secondary load cell 813, or
an associated secondary cable and tensioning device. Rather, it
relies upon making incremental and alternating steps of pressure
and counter tension. The user begins by entering on keypad 817 a
target weight to be offloaded by the system. At this point, the air
flow is initiated to generate pressure within the pants, and the
measurement from load cell 805 is monitored in the control
software. The pressurized air is allowed to flow into the pants
until load cell 805 registers a small suitable increment, nominally
one pound. Then pressurized air flow is stopped, and the counter
tensioning is applied by turning windup pulley 807 until an
additional pound is registered on load cell 805 (now two pounds
total). Note that while the initial force created by the air
pressure will have driven the pants down the body by a small
increment, the identical three magnitude in the opposite direction
created by the counter tensioning device will return the pants to
their starting position. Next, pressurized air flow is initiated
again, and the load cell 805 is monitored until another pound
increment is registered on load cell 805 (now 3 pounds), the air is
shut off and again counter tensioning is applied to match that
increment with another one pound (now 4 pounds total on load cell
805). This iterative process may be performed rapidly and repeated
until the target weight offloading is achieved as registered on
load cell 805.
While these embodiments of the elastic suspension system have been
depicted with respect to a stationary treadmill located indoors
where the control unit can be mounted above the person exercising
on the treadmill, it is important to appreciate that portable
systems employing the electro-mechanical principles of this
invention can be used as well. For example, a similar system could
be mounted to a bicycle frame to manage the countervailing pressure
and support forces applied to the pressurized suit worn by the
bicyclist. It is also important to appreciate that this elastic
suspension system is not essential to use of the pressurized suit
of the present invention.
A further use for a mobile pressurized suit is as a support aid
that can be used to assist the mobility of elderly or
physically-impaired people undergoing rehabilitation, particularly
those recuperating from leg or back injuries. The four-wheeled
cart-like support structure 900 of FIG. 42 is utilized as a wheeled
walker, commonly called a "Rollator." The above-described wheeled
walker is also advantageous for those impaired persons with limited
or no use of their hands and arms. When the pressure suit of the
present invention 901 is worn by such a person, the support aid
provides the necessary support for that person instead of him
having to resort to his arms and hands leaning on a conventional
walker.
The support aid's frame 902 and front wheels 903 and rear wheels
904 are designed and sized so that the mobile unit has the
functionality of standard wheeled walkers. The front wheels turn
and pivot to allow for easy turning. All four wheels may also turn
and pivot. Typically the Wheels 903 and 904 are at least seven
inches in diameter--preferably eight inches--to ensure better
reliability. A three-wheeled walker may also be utilized. Moreover,
to enhance the safety, convenience, and durability of a wheeled
walking aid and its parts, the wheeled support aid may utilize
tubular seats, back seats, and baskets with spacers and
cushions.
The wheeled support aid can be incorporated with hand-operated
brake levers 905 and brakes 910. The brakes on the wheeled support
aid may constitute locking brakes to allow the person to stand
while supported in a stationary position. Other means of braking
may be provided for those with limited use of their arms and hands.
The wheeled support aid can be designed to enable greater range for
rotating the body from side to side to enable the person in the
wheeled support aid to turn from side to side and stand facing one
side or the other, or even the back. It may also have a seat that
will allow for resting. The wheeled support aid will have
adjustable height. The wheeled support aid may also be designed
with a folding mechanism for compact storage.
The wheeled support aid can feature band supports for assisting the
entry and exit from the support aid. The wheeled support aid can be
constructed from light-weight materials such as aluminum or
composites. The pressure-assisted wheeled support aid may
preferably use tubular seats, back seats and baskets with spacers
and cushions. The wheeled support aid can be equipped with a source
of pressurized air to control pressurization of the suit, and means
for balancing the downwards force of the suit automatically as the
pressure is adjusted.
The impaired person 911 wears a pressurized suit 907 that attaches
to the frame of the walker at attachment points 907. The various
attachment methods previously described may be utilized. The
previously described constant-force adjustment mechanisms may also
be incorporated. For walking applications, there is minimal up and
down vertical motion of the walker compared with a running motion,
so less overall adjustment and force balancing is needed for this
embodiment. Various embodiments of the pressurized suit 901
described earlier can be utilized with this wheeled support aid.
The suit can be customized for easy entry and exit by physically
impaired persons. In particular the pressure suit can have extra
long zippers 908 and an easy entry supporting ring which makes the
suit easy to put on for a physically impaired person.
In addition to injury rehabilitation and cardio training, the
pressurized suit of the present invention can also be used with
beneficial results by a person looking to lose weight. In order to
burn fat through physical exercise, the medical community advises
that the person's heart rate needs to be maintained within a
specified range, usually lower than the heart rage for cardio
training. Many people significantly overshoot this heart rate range
for fat burning, resulting in a failure to lose desired amounts of
weight. This disappointment often causes people to quit their
exercises because of their difficult or unpleasant nature, and rely
instead upon extreme diets.
The pressurized suit of the present invention, when properly used,
enables the person to reach an elevated level of physical exercise
with a significantly reduced heart rate. This should make it easier
for that person to maintain her heart rate within the prescribed
range for fat burning, and enhance the likelihood of achieving her
weight reduction goal.
FIG. 41b shows a body weight support device for a person (2001)
walking or running on a treadmill. The person (2001) wears a lower
body suit (2002). Preferably the suit may be a differential
pressure suit as previously described in this application.
Alternatively, the suit may be a non-pressurized suit, or a
harness. A rigid band (2003) encircles the lower body at
approximately the waist. Pulleys (2004) are connected to the band
at intervals around the band. Another set of pulleys (2005) is
connected to a lower body suit at intervals. A cord (2006) runs
through the pulleys on the band and the pulleys on the suit. The
cord alternates passing through a pulley on the band and a pulley
on the suit. The ends of the cord are connected together so that it
forms a continuous loop around the waist through all the pulleys.
The cord and pulleys thus connect and transfer mechanical load from
the suit to the rigid hand. A suspension mechanism (2007), attaches
to the band (2003) at its lower end (2002) and attaches to a cable
(2008) at its upper end. The cable (2007) is connected to a
constant-force adjustment mechanism (2009) as previously described
in this Application.
The invention provides body weight support in a way that does not
restrict one's natural body movements that occur while walking or
running. Specifically the invention is an improved system for a
body weight support device for connecting a person's body to the
weight off-loading components of the device (referred herein to a
constant-force adjustment mechanism) so as not to restrict natural
body movements. During walking or running gait the body moves and
rotates about various axes of the body shown in FIGS. 42b-45.
First, the superior-inferior axis (i.e. vertical axis) (2010) is
shown in FIG. 42b. A person's hips and lower body rotates back and
forth about this axis when walking or running as the leg and hips
are moved forward at the start of a gait cycle and backwards at the
end of the cycle. Second, the medio-lateral (i.e. side to side)
axis (2011) is shown in FIG. 43. A person's body rotates about this
axis as the person leans forward from a stationary standing
position to run or walk, the degree of lean or rotation depending
on the persons running style and speed. Third, the anteroposterior
axis (i.e. front to back) axis (2012) is shown in FIG. 44. During
running or walking the hips and lower body move up and down about
this axis. Fourth, the legs rotate back and forth about a
medio-lateral axis through the hip joints as shown in FIG. 45. The
present invention provides a means for supporting body weight
without restricting body movement and rotation about these four
axes of rotation.
The attachment between the body suit and the band is shown in
detail in FIG. 46. A rigid band (2003) positioned about the waist
of a person at approximately at the waist level. The band is
substantially rigid in the vertical direction to support the body
weight that is offloaded. In a preferred embodiment the band is a
curved rigid aluminum strip 1 inch wide and 1/8 inch thick. The
band may also be constructed to be flexible in the horizontal plane
so as to be compliant and flexible around the waist, while rigid in
the vertical direction to support the weight offloaded. Such a band
can be constructed of multiple thin strips to provide flexibility.
In one embodiment the band is constructed from 3 stainless steel
strips 1 inch wide and 1/32 inch thick that are bound together.
Pulleys (2004) are attached to the band at spaced intervals.
Another group of pulleys (2005) are attached to a suit at spaced
intervals. In a preferred embodiment a rigid supporting bar (2014)
is sewn into a sleeve in the suit and the pulley is attached to it
to provide for an even distribution of stress across the fabric of
the suit. A cord (2006) runs through the pulleys alternating
between the pulleys on the body suit and the pulleys on the band.
The ends of the cord are joined so that it forms a continuous loop
around the body and through the pulleys. In a preferred embodiment
the vertical distance between hand and the pulleys attached to the
suit is approximately 4 inches, however it may be more or less than
this. The attachment pegs on the sides (2015) provide a means for
connecting the band to a supporting mechanism.
FIG. 47 shows a top down cross sectional view of the band (2003)
and pulley attachment system. The cross-section of the body at the
waist (2016) has a roughly oval shape. In a preferred embodiment
the band is approximately oval in shape. In a preferred embodiment
the band is a continuous loop. It may also be hinged and fixed with
a clasp to allow for easier doffing and donning. Pulleys (2004) are
attached to the band at spaced intervals. In a preferred embodiment
eight pulleys are attached to the band. In other embodiments 4, 6,
8, 10 or 12 pulleys are attached. Another group of pulleys (2005)
are attached to a suit at spaced intervals. Each pulley attached to
the lower body suit is positioned at approximately a midpoint
between the pulleys on either side of it on the band. Each pulley
attached to the body suit (2005) is positioned to be at the middle
between the pulleys on the band on either side of it (2004). The
cord (2006) may also pass through several band pulleys in a row to
maintain clearances of the cord and pulleys and the body during
body movements. The cord may be comprised of either a low stretch
material such as nylon or elastic material such as stretch
cord.
FIG. 48 shows a top view of the band and pulley attachment system
when the lower body and hips have rotated counter-clockwise and the
band has remained stationary. When the hips and lower body rotate
as part of a normal running or walking the pulleys on the body suit
move along the connecting cord so that their positions change
relative to the pulleys on the band. As shown in FIG. 48, as the
body has rotated counter-clockwise, each pulley on the body suit
(2005) has moved along the cord to a new position so that it is
closer to the pulley (2004) on the band in the direction of
rotation and further from the pulley (2004) on the band that it is
away from the direction of rotation.
FIG. 49 shows a top view of an embodiment of band and pulley
attachment system in which curved linear bearings (2005a) are
incorporated at the attachment points at the end. The band in this
embodiment is circular in shape. The band is constructed with
grooves that match with the curved linear bearing (2005a). This
design allows for free rotation of the band about the
superior-inferior axis (i.e. vertical axis) of the person. Other
mechanisms that provide for rotary motion such as curved linear
rails might also be utilized. Eight pulley's (2004) are attached to
the band at spaced intervals. The pulleys are attached at the
bottom of the band so as to not interfere with bearings. The
housing for the curved linear bearings goes over the top of the
band. Another group of eight of pulleys (2004) are attached to a
suit at spaced intervals. Other numbers of pulleys may also be used
such as 4 or 6 or 10 or 12.
FIGS. 50 and 51 show the adjustments of the system to the motion of
the leg about the hip during a running stride. During a walking
running gait cycle the legs swing back and forth about a medio
lateral axis through the hip joints as shown previously in FIG. 45.
FIG. 50 shows the start of a gait cycle as the left leg is placed
forward. The lengths of the cords connecting the band pulleys to
the suit pulleys are denoted as left-front-cord-lengths (2018) and
left-rear-cord lengths (2019). As the left leg is placed forward at
the beginning of the stride the left-front-cord-lengths shorten and
the left-back-cord-lengths lengthen. FIG. 51 shows the change in
cord lengths of the cords connecting to the left leg as the leg has
moved backward. As the left leg is moves backwards at the end of
the stride the left-front-cord-lengths lengthen and the
left-back-cord-lengths shorten. The tension in the cord remains the
same throughout the gait cycle so that the system provides body
weight support without constraining the hack and forth movement of
the legs about the hips.
In addition to band and pulley system the present invention can
include a second suspension apparatus for providing freedom of
movement of the body about the various axes of rotation with body
weight support. FIG. 52 shows the components of one embodiment of
suspension apparatus (2005) which connects the rigid waist band
(2003) to the counter force system (2009). A rigid bar (2020)
generally in the shape of an inverted L is connected to a cable
(2025) that is connected to a counter-force adjustment system
(2009). The connection between the cable and bar is made with
bearing (2024) to allow for rotation. A C-shaped horizontal support
bar (2023) is attached to the vertical bar (2020) at a pivot
bearing (2022). The rigid waist band (2003) is attached to the
c-shaped horizontal support bar at pivot points (2027) on each
side. The attachment mechanism can be either a manually opened and
dosed latch or automatic coupling latch such that the band is
easily attached or detached from the c-shaped horizontal support
bar. The latch can be such that the pivot features of the
attachment are maintained.
In other embodiments, as will be described subsequently, the rigid
band is attached directly to a constant-force adjustment system. In
other embodiments, the cord (2006) in FIG. 46 is made of an elastic
material such as a stretch cord. The cord itself becomes the
constant force adjustment system due to its elesticity. The length
and tension of the elastic cord may be adjusted to provide various
amounts of counter force. In a preferred embodiment the tension in
the elastic cord is adjusted by raising or lowering the height of
the band in relation to the person's body. As the height of the
band is increased the tension in the elastic cord increases and the
amount of body weight that is supported increases. The elastic band
provides a relatively constant force within the range of vertical
up and down movement of a person walking or running.
The above described suspension apparatus the present invention
provides for unrestricted movement of a person about the various
axes rotation of the body, as described above. In use the upper end
of the bar (2021) and the cable (2017) are aligned with the
superior-inferior (i.e. vertical) axis (2010) of the person. The
cable and bar (2016) are free to rotate about this axis as the
person's body rotates. This allows for unrestricted body and hip
rotation about the superior-inferior (i.e. vertical) axis (2010) of
the person. The pivot attachment point (2022) between the vertical
L-shaped support bar (2020) and the horizontal c-shaped support bar
(2023) allows the c-shaped support bar (2023) to pivot about the
anteroposterior (front to back) axis (2012) of the person. This
allows for unrestricted back and forth rotation about the
anteroposterior (front to back) axis (2012) of the person. The
pivot bearing attachment (2027) between the horizontal c-shaped
support bar (2023) and the band (2003) allows the band (2003) to
pivot about the medio-lateral (i.e. side-to-side) axis (2011) of
the person in the device which allows for unrestricted rotation of
the person. In summary the suspension mechanism (2005) provides a
means for supporting body weight without restricting body movement
and rotation about the superior-inferior, anteroposterior and
media-lateral axes of rotation. Thus both the band pulley system
and the suspension mechanism provide for unrestricted movement of
the body during walking and running. They both provide a means for
enabling unrestricted body movement in a body weight support
device.
FIG. 53 shows another embodiment of the invention in which the
rigid band and pulley system is attached to a leg harness on the
lower body rather than a pressurized suit. This embodiment shows
the rigid band body weight support device in which the device is
connected to a leg harness (2028) consisting of webbing straps that
are attached to the person's legs. A suitable harness is
constructed from nylon webbing. Velcro closures and nylon straps
and buckles allow the harness to be adjusted to fit different body
sizes. The harness may have padding and rigid or semi rigid areas
to provide additional comfort. The rigid band and pulley and system
are the same as previously described and shown in FIG. 46. In this
embodiment the pulleys (2005) are attached to a harness at spaced
intervals. Pulleys (2004) are attached to the rigid band (2003) at
spaced intervals. A cord (2006) runs through the pulleys. The
device provides for unrestricted body movements along all body axes
of rotation as previously described improving on existing harness
systems.
In another embodiment the rigid band and pulley system is used with
a mobile device such as a walker as a support aid that can be used
to assist the mobility of elderly or physically-impaired people
undergoing rehabilitation, particularly those recuperating from leg
or back injuries. A mobile walker to provide body weight support
using differential pressure suit is previously described in this
application. Another use of the rigid band and pulley system on a
mobile device is to provide stability for walking. If a person
becomes unstable or loses balance the pulleys and band inherently
provide a counter force as the person tilts from vertical. The
pulleys and band make it difficult or even impossible to fall.
Falls are a major source of injury and death to the elderly and
disabled population. The above-described wheeled walker is also
advantageous for those impaired persons with limited or no use of
their hands and arms because it does not require the use of their
hands and arms for support as is necessary with a traditional
walker. The support aid provides the necessary support and
stability for that person instead of him having to resort to his
arms and hands leaning on a conventional walker. The support aid
may also be used to provide body weight support while both walking
and running. It is an improved system for rehabilitating a skeletal
joint injury or training for injury prevention, athletic
performance, or fat reduction, or assisting the mobility of the
physically disabled.
FIG. 54 shows an embodiment of the rigid band and pulley system
used to provide body weight support on a powered four-wheeled
support structure 800 of FIG. 54 is utilized as a wheeled walker,
commonly called a "Rollator." This support aid utilizes a pressure
suit (801) worn by a person, a powered air pressure source, and a
powered constant-force adjustment mechanism. Various embodiments of
the pressurized suit 801 described earlier can be utilized with
this wheeled support aid. The suit can be customized for easy entry
and exit by physically impaired persons. A rigid band (813)
encircles the lower body at approximately the waist. Pulleys (806)
are connected to the band at intervals around the band. Other
similar pulleys (815) are connected to a lower body suit at
intervals. A cord (6) runs through the pulleys on the band and the
pulleys on the suit. The cord alternates passing through a pulley
on the band and a pulley on the suit. The ends of the cord are
connected together so that it forms a continuous loop around the
waist through all the pulleys. The cord and pulley's thus connect
the suit to the rigid band. The band is connected to a
constant-force adjusting mechanism (822) on each side of the
support device. The band is attached to the constant-force
adjustment mechanism using an attachment latch. The attachment
latch can be either a manually opened and closed latch or automatic
coupling latch such that the band is easily attached or detached
from the c-shaped horizontal support bar. The latch can be such
that the band may rotate or pivot about the attachment point.
A constant-force adjustment mechanism 822 is attached to each side
of the wheeled support aid. The constant-force adjustment mechanism
control system and user interface may be similar to the
constant-force adjustment mechanism previously described in this
application. In the embodiment described herein compression springs
823 are utilized to provide the constant force. Other mechanisms
that provide a relatively constant force such as constant force air
springs might also be utilized in place of the compression
springs.
The preferred method of an adjustable compression spring will be
described. It is important over small vertical displacements in the
range of a typical walker (nominally 1-3 inches) that the counter
force is maintained without great variability. Thus a spring
constant of only a few pounds per inch is used such that force when
the spring is compressed changes only modestly when the individual
rises slightly during walking.
In FIG. 54, a mobile support aid utilizing the band and pulley
system and pressurized pants is shown depicting the compression
springs connected to the person's left side. At the end of
compression spring (823) is an electronic load cell (824) capable
of measuring the desired compression from 0 to 100 pounds. Mounted
on the bottom side of the compression spring is a gear motor (825)
and displacement shaft (826). The motor has a displacement encoder
that is fed to the system microcontroller, along with the load cell
information. In this embodiment the user selects two parameters
from the input box (817) rotary dials (818): desired un-weighting
level in pounds and a setting that relates to the cross sectional
area of the individual. In the preferred embodiment of the input
dial, this dial is labeled a `comfort` setting, and individual
users select a value that they determine in practice gives them a
balance between the net downward force supplied by the pants air
pressure, and the upward force on the pants supplied by the
counter-tensioning system. A higher `comfort` number will yield a
higher pressure for a given un-weighting value, and would be
necessary for thinner individuals. Conversely, a lower `comfort`
number would yield lower pressure for a given un-weighting value
and would be needed for larger individuals. These comfort numbers
1-16 are simply mapped into cross-sectional area values in the
control software, such that the following equation is maintained:
Wu=P*A, where Wu is the desired unweighting value, P is the air
pressure, and A is the cross sectional area derived from the
comfort dial setting. With Wu and A effectively chosen by the user,
the appropriate pressure P to support the un-weighting value is
solved for.
Upon startup, the unweighting is not realized all at once, but can
only happen as fast as the pants become pressurized, which in the
described system requires on the order of 10 to 20 seconds. The
counter-tensioning value, supplied by engaging the gear motor to
begin compressing the compression springs, is developed at a rate
such that the above equation is maintained dynamically, within a 5
pound limit. In the preferred control algorithm during build up to
a target unweighting value, the load cells and pants pressure are
read every 50 milliseconds, and if the above equation, due to
increasing pressure can support a further increment of unweighting,
the gear motor is engaged for a short increment. Air flow continues
until the desired target air pressure is reached, and every few
milliseconds further force is applied to the springs such that when
the air pressure target is reached, the counter-tensioning value is
simultaneously reached. The same lock step algorithm is engaged if
the un-weighting set value is changed, or dropped to zero.
A further enhancing mechanism particularly for disabled individuals
desiring to walk in the system is power assisted wheels. A
phenomenon when one is greatly un-weighted by the disclosed walker
system, is that one has less `leaning` ability to nudge the walker
into motion, simply because one effectively weighs less. Normal
individuals can easily overcome this by pushing with their arms and
legs, but the addition of power assisted wheels are a useful
enhancement for frail or rehabilitating individuals. The mechanism
is realized by an electric motor and clutch on each of the front
two wheels that supply a significant fraction of the force
necessary to overcome friction and roll the walker. The motor need
not run full time but is engaged with a band switch on the walker
to conserve battery power. This also serves as an optional braking
mechanism, in that if the engagement switch is released, the wheels
may brake. The clutch mechanism allows users to exceed or overdrive
the force supplied by the motor to the extent that they are capable
of exceeding the very minimal startup speed supplied by the wheel
motors.
FIG. 55 shows an embodiment of the rigid band and pulley system
used to provide body weight support on a non-powered manually
operated four-wheeled support structure (900) is utilized as a
wheeled walker, commonly called a "Rollator." A leg harness (916)
is worn by the person (911) in this embodiment. In other
embodiments a pressurized or non-pressurized suit may be utilized.
The harness consists of bands (916) on the legs of the person (911)
and is constructed as described previously. The rigid band and
pulley system (906) attaches to a harness (916) on the legs of the
person (916). This particular embodiment of a wheeled support aid
does not require a powered source for pressurized air or a powered
constant-force adjustment mechanism. Some advantages of a
non-powered mobile support aid are to provide stability and body
weight support are lighter weight, ease of use and lower cost. In
this embodiment an elastic cord (914) that runs through the pulleys
attached to the band and harness is utilized as a constant force
adjustment system. The tension in the cord is manually adjusted by
raising or lowering the rigid band. Hydraulic cylinders 920 are
attached to each side of the wheeled support aid. The rod end of
the hydraulic cylinder is attached to the band by an attachment
latch. The attachment latch can be either a manually opened and
closed latch or automatic coupling latch such that the band is
easily attached or detached from the c-shaped horizontal support
bar. The latch can be such that the band may rotate or pivot about
the attachment point. The band is raised or lowered by turning a
crank (918) that operated a hydraulic pump (917). The pump is
connected to the hydraulic cylinder by a hydraulic line (919).
Other mechanical means of raising and lowering the band might also
be utilized in other embodiments. The tension in the band might
also be adjusted by lengthening or shorting the elastic cord which
runs through the pulleys. The ends of the elastic cord may be
connected to each other by a means which allows for easy
adjustment. The walker may also be utilized in a mode without a
constant-force adjustment mechanism by utilizing a non-elastic
cord.
Both the powered and non-powered mobile support aids that utilize
the band and pulley suspension system can utilize a pressurized
suit, a non-pressurized suit or a harness. The powered mobile
support aid's frame 802 and front wheels 803 and rear wheels 804
are designed and sized so that the mobile unit has the
functionality of standard wheeled walkers. Similarly the
non-powered mobile support aid's frame 902 and front wheels 903 and
rear wheels 904 are designed and sized so that the mobile unit has
the functionality of standard wheeled walkers. The front wheels
turn and pivot to allow for easy turning. All four wheels may also
turn and pivot. Typically the wheels 903 and 904 are at least seven
inches in diameter--preferably eight inches--to ensure better
reliability. Various numbers of and configurations of wheels may
also be utilized including configurations with three, five, six or
more as in known in the art. The wheels may be combinations of
fixed or pivot wheels and may be of different sizes and
configurations as is known in the art. The number, size, type and
configuration of wheels provides for various handling,
maneuverability and stability characteristics required for various
therapeutic uses. The wheels may be connected to a steering
mechanism, so the person or a person assisting him may manually
steer the wheeled support aid. Moreover, to enhance the safety,
convenience, and durability of a wheeled walking aid and its parts,
the wheeled support aid may utilize tubular seats, back seats, and
baskets with spacers and cushions.
The powered wheeled support aid can be incorporated with
hand-operated brake levers (805) and brakes (810). Similarly the
non-powered wheeled support aid can be incorporated with
hand-operated brake levers (905) and brakes (910). The brakes on
the wheeled support aid may constitute locking brakes to allow the
person to stand while supported in a stationary position. Other
means of braking may be provided for those with limited use of
their arms and hands. The wheeled support aid can be designed to
enable greater range for rotating the body from side to side to
enable the person in the wheeled support aid to turn from side to
side and stand facing one side or the other, or even the back. It
may also have a seat that will allow for resting. The wheeled
support aid can have adjustable height mechanism to accommodate
various sizes of persons. The wheeled support aid may also be
designed with a folding mechanism for compact storage.
The wheeled support aid can feature band supports for assisting the
entry and exit from the support aid. The wheeled support aid can be
constructed from light-weight materials such as aluminum or
composites. The wheeled support aid may preferably use tubular
seats, back seats and baskets with spacers and cushions.
FIG. 56 shows a body weight support device for a person (1001)
walking or running on a treadmill wherein the constant-force
adjustment mechanism supports the person from the base of a
treadmill rather than overhead. Supporting from the base provides
advantages over supporting from overhead, as previously described.
It provides for a low profile, lower cost frame that is
particularly suitable for home use. The person (1001) wears a lower
body suit (1002). Preferably the suit may be a differential
pressure suit as previously described in this application.
Alternatively, the suit may be a non-pressurized suit, or a
harness. A rigid band (1003) encircles the lower body at
approximately the waist. Pulleys (1004) are connected to the band
at intervals around the band. Another set of pulleys (1005) is
connected to a lower body suit at intervals. A cord (1006) runs
through the pulleys on the band and the pulleys on the suit. The
cord alternates passing through a pulley on the band and a pulley
on the suit. The ends of the cord are connected together so that it
forms a continuous loop around the waist through the all pulleys.
The cord and pulleys thus connect the suit to the rigid band. The
band incorporates a curved linear bearing (1009) for enabling
rotary motion of the band at the attachment point to provide
additional freedom of rotation as described previously. A
constant-force adjustment mechanism (1022), attaches to the curved
linear bearing (1009).
The constant-force adjustment mechanism (1022) is attached at each
side of the treadmill. The constant-force adjustment mechanism
control system and user interface similar to the constant-force
adjustment mechanism previously described in this application. In
the embodiment described herein compression springs (1023) are
utilized to provide the constant force. Other mechanisms that
provide a relatively constant force such as constant force air
springs might also be utilized in place of the compression springs.
At the end of compression spring (1023) is an electronic load cell
(1030) capable of measuring the desired compression from 0 to 100
pounds. Mounted on the bottom side of the compression spring is a
gear motor (1031) and displacement shaft (1032). The motor has a
displacement encoder that is fed to the system microcontroller,
along with the load cell information. In this embodiment the user
would select two parameters from a control panel (not shown)
mounted on the treadmill's control panel: first the desired
un-weighting level in pounds and a second a setting that relates to
the cross sectional area of the individual. The enclosure (1010)
contains an air pressure source, air regulator and microcontroller
running control software. A cable 1033 connects the load cell to
the enclosure. An air hose (1034) delivers pressurized air to the
suit. The software is programmed to deliver a specified air
pressure to support unweighting, as well as a control signal to the
motors (1031) to displace the compression springs (1023) to a
specified level as measured by the load cell (1030). An air line
(1011) connects the air pressure source to the pants. The constant
force control mechanism is the same as described previously for the
powered mobile device.
An improved embodiment of the close fitting differential pressure
suit is described below. A construction of the layers of embodiment
is shown in FIG. 57. An air-tight inner bladder 1141 maintains the
positive pressure P condition inside the suit against the person's
body skin 1134. The bladder consists of two layers, an inner layer
1131 and an outer layer 1131b. The fabric for the bladder may be
formed from any pressure-tight material that is also sufficiently
flexible to afford mobility by the person. Preferably the fabric
consists of a material that is air impermeable and moisture vapor
permeable. An example bladder fabric is TC92 a 4-way stretch
polyurethane coated fabric available from Dartex coatings 22 Steel
Street, PO Box 70 RI. This both allows the bladder to maintain a
positive air pressure P and allows moisture vapor from sweat to
permeate through the material to keep the runner 1 dry and
comfortable. The bladder may also be constructed to have holes 1139
that are permeable to air on the inner side next to the skin. The
bladder may also be constructed to have sections of another
material 1140 that are permeable to air on the inner side next to
the skin. This allows for air to circulate between the bladder and
the skin. A continuous supply of pressurized air can be supplied
from a pressure source and pressure control system as described in
this application. The pressure system can be sized to provide the
required amount of air flow to maintain cooling. Outer layers 1136
and 1138 of the differential pressurized suit 14 composition
prevent the suit from expanding due to the force applied by
positive pressure P, while maintaining the shape of the suit to fit
closely to the body.
The bladder can be sized to the same size as the outer constraining
layers 1136 and 1138 or it maybe sized to be smaller or larger than
the outer constraining layers. The bladder can be sized to extend
various lengths up the waist of the suit, so that positive pressure
is applied only in sections that the bladder extends to beneath the
constraining layers. The bladder can extend upwards from the legs
just to the hips, or just to approximately the pelvic area, or all
the way to the waist. The bladder may be patterned so that it
conforms to zippers incorporated into the suit. The bladder may be
constructed from identically sized sections of fabric, so that one
section forms an inner layer 1131 and one section forms the outer
layer 1131b or the bladder. The bladder may be constructed by
sewing the sections together with a heat sealing film at the seams
to make an airproof seam. One heat seal film is Bemis 3218 adhesive
film available from Bemis 100 Ayer Rd--Shirley, Mass. 01464
USA.
The fabric for these first and second outer constraining layers
1136 and 1138 should be composed two way stretch fabric. This type
of fabric is constructed to mostly be non-extending along one axis,
and elastic or extensible along a second axis perpendicular to the
first axis. Exemplary two way stretch materials include, without
limitation, nylon-Lycra that can be knit or braided, or a
monofilament like nylon or Dacron. Two-way stretch fabrics are
available from Shoelier Textile USA of Seattle, Wash.
The fabric can be more specifically oriented so that its
non-extending axis follows lines on the body in which the skin does
not stretch or extend during bending or other movement. These lines
are known within the industry as "lines-of-non-extension." The
concept of lines of non-extension is described in a published
technical report: THE USE OF LINES OF NONEXTENSION TO IMPROVE
MOBILITY IN FULL-PRESSURE SUITS, ARTHUR S. IBEIALL, RAND
DEVELOPMENT CORPORATION, AMRL-TR-64-118, AMRL-TR-64-118.
Lines-of-non-extension are directions on the skin of the body in
which the skin does not stretch or extend. A picture from the
report which maps the lines of nonextension on a mannequin is shown
in FIG. 58. There are two sets of lines-of-non-extension on the
lower body shown in FIG. 58. One set runs roughly perpendicular to
the longitudinal axis of the body, the second set runs roughly
parallel to the longitudinal axis of the body.
The constructions of the two outside layers 1136 and 1138 are such
that the stretch and non-stretch directions of the fabric are
mapped into the lines-of-non-extension as best as possible. This is
accomplished by constructing the suit of multiple sections of
two-way stretch fabric in a pattern which maps the non-stretch
direction of the individual fabric sections onto the lines of
nonextension as best possible.
A pattern 1201 for the first outer layer 1136 is shown in FIG. 59.
The arrows indicate the direction of stretch. The individual
sections of fabric are indicated by the sections, for example 1202,
shown in the pattern. Lines indicate where seams are sewn between
the pieces. The individual layers are sewn together at the seams
and the outer edges are sewn together to form a suit. The same
method is applied to the outer layer 1138. The first outer layer
1136, second outer layer 1138, and sealed bladder are sewn together
to form a single lower body suit. Zippers may be incorporated in
the design to facilitate donning and doffing of the suit. In
particular zippers may be incorporated from crotch area (to the
waist) and at the calves as in common in pants and close fitting
tights designs. Generally, the first outer layer 1136 serves to
prevent the suit from expanding, generally circumferentially, due
to pressure inside the suit. The second outer layer 1138 prevents
the suit from expanding, generally, longitudinally.
The suit also can incorporate sections of four-way stretch fabric
as necessary in areas that require stretch in both directions.
Where appropriate in sections of the body which do not stretch as
much, such as the thigh area or lower calves, cloth, mesh, or net
material that is non-extendible along both axes may be used.
A drawing of a runner 1301 using a body weight support system 1303
on a treadmill 1303 wearing the differential pressure suit 1302
described in this embodiment is shown in FIG. 60. The body weight
system support system 1303 includes a supporting frame 1304, a base
1305, a rigid band 1306, and means for attaching the band to the
suit 1307. A feature of this embodiment of the body weight support
system is that the stationary frame has a much lower profile than
the overhead support system described previously. This makes this
design particularly suitable for in home use. This design of body
weight support system can also incorporate the band and pulley
system described herein, and the constant force adjustment systems
described earlier and shown in FIG. 54. In particular the constant
force adjustment system and pressurization system described for the
mobile support aid may be incorporated into a frame system similar
to that which is mounted on the floor and having a frame that
extends to the waist. The suit may also be used in conjunction with
the other stationary frame and mobile systems described in this
application.
The differential pressure suit on the runner 1301 shown in FIG. 60
shows the suit constructed of sections of two-way stretch fabric as
described previously. The suit 1302 is attached to the rigid band
by attachment cords 1309. Suitable rigid support stays 1307 are
sewn into the suit to evenly distribute the load from the
pressurized suit. Alternatively sections of fabric or a system of
suspension cords may be utilized to attach the suit to the
frame.
The suit 1302 shown in FIG. 60 has a lacing system 1308. The lacing
system facilitates closely fitting the suit to various body shapes
and sizes. The lacing system has unique features that enable it to
work for long lengths including the length of the entire suit. The
lacing system consists of low friction components. Nylon coated
boot hooks are used in the lacing system. Military spec known as
"Nato Hooks" are utilized for the low friction hooks. Low friction
high strength cords are utilized. Exemplary line is Laser Pro Gold
300 lb test line available from The Kite Shop at
thekiteshoppe.com.
While the suit is described above as having multiple layers of
fabric including air impermeable and two way stretch fabrics
orientated and located as described, the functions of these various
layers can be combined into fewer layers of fabric so that at a
minimum the suit is comprised of a single layer of fabric with the
functionality of the layers combined. For instance two-way stretch
fabrics that is also air impermeable and or water vapor permeable
can be utilized to both contain pressurized air and constrain the
suit as a single function. Or two or more layers of fabric can be
laminated together so that the fabric consists of a single layer
with the functionality of the individual layers.
Example 1
Mobile Support Device
A rigid band is constructed from curved rigid aluminum strip 1 inch
wide and 1/8 inch thick. The band is oval in shape. Pulleys are
attached to the band as follows. Two pulleys are attached at the
front and back midpoints of the band, two pulleys are attached at
the midpoints at the side in the configuration shown in FIG. 47.
Two additional pulleys, now shown, are attached at the right and
left sides of each hand. One of the pulleys is attached frontwards
on the band from the midpoint pulley on each side, and another
pulley is attached rearwards from the midpoint pulley on each side.
To attach the pulleys to the pants, rigid supporting bars (2014)
are constructed of 1/8'' thick 3/4'' wide aluminum bars are
inserted into sleeves sewn into the pants as shown in FIG. 46. A
cord made from a low stretch material run alternatively through
band pulleys and the suit pulleys and tied in a knot. The cord is
adjusted so that the pulleys attached to the pants are 4 inches
below the waist. One half inch diameter pegs are bolted to the band
at the midpoint on each side to serve as attachment pegs to the
horizontal C-shaped section of the suspension apparatus. A shaped
horizontal component (2023) of the suspension apparatus is formed
from aluminum stock as shown in FIG. 52. The radius of curvature is
the same as that of the band. One half inch wide slots are milled
at the attachment point 2027 (see FIG. 52). The band is attached to
the C-shaped horizontal component by fitting the pegs of the band
into the slots. A delrin block is machined to slide over the slot
and hold the peg of band in place.
An L-shaped vertical component (2020) of the suspension apparatus
is formed from 1 inch diameter, aluminum tubing, as shown in FIG.
52. A bearing (2022) is fitted to the bottom of the L-shaped
vertical component shown in FIG. 52. A rotating bearing (2024) is
fitted at the top (see FIG. 52), which is attached to cable. The
cable attaches to a constant force adjustment system as previously
described in this application.
Example 2
Powered Mobile Support Device
A mobile `walker` device has been constructed using the concepts
illustrated in FIG. 54. A standard commercially available rollator
frame was used as a mechanical base. Compression springs (Century
Spring) that yield about 50 pounds for 6 inches of compression were
used, one on each side as per the FIG. 54. Gear motors that
displace the springs were used. The pressure pants, band and pulley
attachment mechanism as described in Example 1 were employed
identically in this design, except that the band is pushed up with
the compression spring mechanism, instead of pulled up or tensioned
with the over-hanging suspension system. A 24 lead acid battery
source is used to power a portable air pump (Thomas), an air
regulator (Bellofram), the gear motor, load cell and pressure
sensors, and an electronics PLC controller (Galil Inc).
Elderly or physically-impaired people undergoing rehabilitation, or
people suffering from gait and balance problems due to strokes,
Parkinson's and other neurological disorders, or people requiring
hospitalization, or recovering from illness or surgery often lack
the strength and balance to rise from a sitting to a standing
position. Nurses, physical therapists, aids, and other care
providers often have to assist in standing and walking. Assisting
large persons in standing and walking requires significant physical
strength and sometimes requires several people. Furthermore, there
is a risk of falls to the patient or harm to the care provider from
heavy lifting. Thus, the present invention provides a lift-assisted
mobility device that provides both body weight support and lift
assistance. It functions to off-load a portion or all of the
person's body weight in order to make it easier for him to rise
from a sitting position to a standing position.
A preferred embodiment of the lift-assisted mobility device 1401 is
shown in FIG. 61. The lift-assisted mobility device utilizes a
constant-force adjustment mechanism 1406. This mechanism provides a
counter-force to support the vertical downwards load from a
differential pressure suit as previously described. The
constant-force adjustment mechanism control system and user
interface may be similar to the constant-force adjustment
mechanisms previously described in this Application. In a preferred
embodiment described herein, the constant-force adjustment
mechanism 1406 is an air cylinder. An air cylinder provides both a
constant force and a sufficient range of travel to accommodate the
vertical displacement involved in moving from a sitting to a
standing position. In other embodiments, the constant-force
adjustment mechanism may utilize air springs or mechanical springs,
as is known in the art. The constant-force adjustment mechanism may
also be mechanical springs or pneumatic springs, air cylinders, or
air springs that are not constant force. In another embodiment, the
constant-force adjustment mechanism may consist of a compression
spring, electronic load cell, gear motor and displacement shaft as
previously described. A vertical shaft 1407 extends from the
constant-force adjustment mechanism. The vertical shaft of the
constant force adjustment mechanism 1406 is sufficiently long to
provide a constant load as the person rises from a sitting position
to a standing position.
As shown more clearly in FIG. 61, a support frame 1402 extends from
the base of the device 1403 on the right side of the device. The
left side of the device is open and without a supporting frame
member to enable the base 1403 to fit under a chair or bed. A
handrail 1404 is provided. The lift-assisted mobility device 1401
is accompanied by wheels 1412 and brakes 1411 that are
hand-operated and may be power assisted. The brakes may be operated
using the band brake levers 1405, or from the control panel 1410.
The brakes may also be used to lock the wheels to stabilize the
lifted assisted mobility aid. The base 1403 houses a power supply,
compressed air supply, batteries and controls (all not shown).
A latch 1408 is connected to the end of a horizontal support bar
1409 that extends from the top end of the vertical shaft 1407. The
latch 1408 couples with a rigid band and pulley system 1503, as
shown in FIG. 62. The construction and function of the band and
pulley system are as previously described in this application. In
the present embodiment, the latch 1408 is an electro-mechanical
latch. It can also be a manually-operated latch. The latch can be
electronically coupled and decoupled via the control system. In an
emergency, the person can be quickly detached from the device. It
has an electronic interconnect sensor so that the device can be
enabled only when the connection is secure. A manual lease is also
provided. The attachment latch also contains a coupling for an air
supply hose. An air supply hose (not shown) and electronic
connections (not shown) are integrated internally in the horizontal
bar 1409, vertical shaft 1408, constant force mechanism 1406 and
extend to the air supply and controls in the base 1403. An air
connection (not shown) in the latch couples with an air connection
of the rigid band and pulley system (also not shown).
FIG. 62 shows a seated person 1501 wearing a differential pressure
suit 1502 connected to a band and pulley system 1503. In this
embodiment the band and pulley system and suit are integrated
together as a single garment so that a person is able to simple
doff or don the entire unit. They maybe also separate components
which can be attached together as needed. Coverings may be applied
so that the band and pulleys so the mechanisms are not obtrusive
and don't interfere with doffing and donning.
The differential pressurized suit 1502 shown in FIG. 62 comprises a
full-length lower body suit that extends from the waist to above
the ankles. The suit is sealed at ankles and the waist.
Alternatively, the suit may extend from the waist to cover the
feet, or only extend from the waist to the knees, or upper thigh as
described in this Application. The seal may constitute any of the
sealing methods described in this Application, including a neoprene
band, an inflatable tube, or an inflatable bladder. The rigid band
has a coupler 1504 which mates with the latch mechanism 1408 on the
lift assisted mobility device 1401. An air hose 1505 is connected
to the coupler 1504 and the differential pressure suit 1502.
Other embodiments of the lift-assisted mobility device can utilize
a non-pressurized body suit, or a harness assembly rather than a
pressurized differential pressure suit. For example, the band and
pulley system of the lift-assisted mobility device may be attached
to a leg harness 916 as shown in FIG. 55. The harness consists of
bands (916) on the legs of the person (911) and is constructed as
described previously. The rigid band and pulley system (906)
attaches to a harness (916) on the legs of the person (916). In
another embodiment, a non-pressurized suit may be utilized. The
non-pressurized suit can be constructed as previously described for
pressurized suits with the exception that seals and air supply and
connections are not provided or necessary. These embodiments are
generally utilized where a lesser amount of body weight support is
needed.
FIG. 63 shows the lift-assisted mobility device 1601 in place
adjacent to and connected to the band pulley system and
differential pressure suit of a person seated on a chair 1605. The
vertical shaft 1607 and horizontal bar 1608 are at a low position,
so that the level of the latch 1606 is at the level of the band and
pulley system. The person or a therapist may use the control panel
1609 to activate the device and set the amount of body weight
support. A control system as previously described in this
Application provides the correct air pressure to the pants, and
operates the constant-force adjustment mechanism to offload the
selected amount of body weight support. Once the system has reached
the selected level of body weight support, the person may then
stand easily with reduced or even minimal effort, and without
needing the assistance of a caregiver. Once standing, the person
may then use the device as mobility assist device with body weight
support.
FIG. 64 shows the person 1701 having moved to a standing position.
The person's center of mass is approximately at the position of the
latch 1704. As the person rises from the chair (Arrow C), the
center of mass moves both vertically and horizontally. The device
accommodates this motion, while providing a constant uplifting
force to unweight the person. The arrows in the drawing show the
directions of travel of various components. First the vertical
shaft moves upwards as the person rises as shown by Arrow A. The
constant-force adjustment mechanism 1705 moves the vertical shaft
upwards and provides a constant force. The entire device also moves
forwards horizontally as indicated by Arrow B. The wheels allow the
unit to move horizontally as the person stands up. This horizontal
motion of the device allows the device to stay centered with the
center of mass of the person providing safety and preventing falls.
The person is able to safely rise to a standing position with
minimal effort and immediately began walking with reduced
weight.
In some rehabilitation settings, there are advantages to being able
to use a mobile support device in stationary mode in conjunction
with a treadmill. For example, in traumatic brain injury patients,
the added stimulation of ambulating about the rehabilitation
facility may be overwhelming, making the fixed treadmill setting
desirable, or a physical therapist may need to remain in a seated
position to access the patient's legs while the patient ambulates.
It will also be economical to be able to utilize a hospital's
mobile support device on a standard treadmill, rather than
purchasing a separate overhead harness system for treadmill-based
therapy.
A means of mounting a mobile support device (walker) on a
stationary treadmill frame is shown in FIG. 65. In this example the
walker previously shown in FIG. 54 is depicted, however, the
concept applies to any of the mobile support devices described in
this Application. The patient 1801 is shown using a walker 1802
situated in a mount 1803 on a treadmill 1812. The mount consists of
an incline platform 1804 section utilized to roll the walker up
onto the horizontal frame 1805 section of the mount. The horizontal
frame sections rest on each side of the treadmill 1812 on the solid
portion of the treadmill 1812 that is separate from the moving
track 1911 shown in FIG. 66.
A rear view of the treadmill-walker system is shown in FIG. 66. The
horizontal frame section 1908 has u-shaped channels 1905 that are
located at the left and right sides of the treadmill on the surface
that is separate from the moving track 1911. The u-shaped channels
1905 serve as tracks that the wheels 1906 travel in, thereby
preventing lateral movement of the walker. Cross pins 1907 are
placed across the channels 1906 once the walker is in place, behind
the rear wheels 1906 and in front of the front wheels (not shown)
to prevent any forward or backward movement of the walker 1902.
Clamp member 1809 shown FIG. 65 connects from the treadmill mount
to a cross member of the walker, and prevents any vertical movement
of the walker, thereby enhancing stability. Thus, the walker 1802
is fixed in place, and the patient 1801 is engaged in the walker
1802 as previously described in this Application. The patient 1801
may then be unweighted as previously disclosed, and may walk at the
desired treadmill speed as required for therapy.
The above specifications and drawings provide a complete
description of the structure and operation of the assisted motion
system 10 under the present invention. However, the invention is
capable of use in various other combinations, modifications,
embodiments, and environments without departing from the spirit and
scope of the invention. Therefore, the description is not intended
to limit the invention to the particular form disclosed, and the
invention resides in the claim and hereinafter appended.
* * * * *